当前的 3DGS SLAM充分利用了3D GD渲染速度快的优,但是并不直接利用3D GS显式表达进行tracking。而RGBD GS-ICP SLAM的关键创新点在于跟踪以及建图模块使用同一个3D GS显示地图。 该系统的框架图流程如下: 首先,系统接收RGB-D 帧作为输入。然后,通过对当前深度图像进行下采样和重投影生成点云,并在G-ICP过程中利...
code: GitHub - Lab-of-AI-and-Robotics/GS_ICP_SLAM 既然敢叫GS-ICP,想必有独到之处的doge 所谓的gs-icp中使用了分布-分布(distribution-to-distribution)的匹配方法:fast gicp,这个需要单独写一篇:逃课容易:distribution-to-distribution icp。 使用Gicp进行track获取帧间pose。 使用GICP中计算的点云协方差初始...
RGBD GS-ICP SLAM 19 Mar 2024 · Seongbo Ha, Jiung Yeon, Hyeonwoo Yu · Edit social preview Simultaneous Localization and Mapping (SLAM) with dense representation plays a key role in robotics, Virtual Reality (VR), and Augmented Reality (AR) applications. Recent advancements in dense ...
In this paper, we propose a novel dense representation SLAM approach with a fusion of Generalized Iterative Closest Point (G-ICP) and 3D Gaussian Splatting (3DGS). In contrast to existing methods, we utilize a single Gaussian map for both tracking and mapping, resulting in mutual benefits. ...
conda create -n gsicpslam python==3.9 conda activate gsicpslam conda install pytorch==2.0.0 torchvision==0.15.0 torchaudio==2.0.0 pytorch-cuda=11.8 -c pytorch -c nvidia pip install -r requirements.txt Also, PCL is needed for fast-gicp submodule. Install submodules conda activate gsicpslam...
-Added 4 papers: GVGEN, HUGS, RGBD GS-ICP SLAM, and High-Fidelity SLAM **March 19, 2024**: -Added Pointrix -Added 3DGS tutorial by the original authors Expand DownExpand Up@@ -953,6 +956,16 @@ Text-to-3D synthesis has recently seen intriguing advances by combining the text...
只有尝试自己解决了 1:使用命令locate libtiff.so.5,找哪里有这个文件 这里有坑,看到在gsicpslam下有libtiff.so.5但是当实际去到目录下发现根本没有libtiff.so.5 2:在其他位置复杂locate libtiff.so.5到我们的虚拟环境下 再次运行,大功告成发布于 2024-06-22 16:47・IP 属地四川...
4. 主要贡献● 我们受GS-ICP SLAM启发，提出了一种大规模视觉惯性SLAM框架VIGS SLAM，利用RGB-D和IMU...
mesh rgbd 3dgs 2dgs Updated Jan 1, 2025 Python jhu-lcsr / handeye_calib_camodocal Star 571 Code Issues Pull requests Easy to use and accurate hand eye calibration which has been working reliably for years (2016-present) with kinect, kinectv2, rgbd cameras, optical trackers, and sev...
为了减少基于3DGS的跟踪的计算量，我们采用了一种基于ICP的跟踪框架，该框架结合了IMU预积分来为精确的...