实时高斯-SLAM (RTG-SLAM),是一种使用高斯splatting的RGBD 摄像机大规模环境实时 3D 重建系统。该系统具有紧凑的高斯表示和高效的动态高斯优化方案。强制每个高斯都是模糊的或几乎透明的,模糊的高斯适合表面和主颜色,透明的高斯适合残差色。以不同于颜色渲染的方式渲染深度,让单个模糊高斯很好地适合局部表面区域,
RTG-SLAM 的优势 紧凑的高斯表示 和高效的高斯优化策略 使RTG-SLAM 能够以低内存成本在真实的大规模场景中实现 实时重建。 2、出发点 研究对象:对比酒店房间的三维重建效果 方法:使用本系统与当前最先进的 NeRF(神经辐射场)RGBD SLAM 技术进行比较。 技术对比 对比方法: Co-SLAM([Wang et al. 2023] 提出)...
RTG-SLAM: Real-time 3D Reconstruction at Scale Using Gaussian Splatting论文地址:https://arxiv.org/pdf/2404.19706 我们提出了实时高斯 SLAM (RTG-SLAM),这是一种使用高斯溅射的带有RGBD相机的实时 3D 重建系统,适用于大规模环境。该系统具有紧凑的高斯表示和高效的动态高斯优化方案。我们强制每个高斯都是不透明...
RTG-SLAM has been tested on python 3.9, CUDA=11.7, pytorch=1.13.1. The simplest way to install all dependences is to useanacondaandpipin the following steps: conda env create -f environment.yaml 1.3 Modified ORB-SLAM2 Python Binding
RTG-SLAM: Real-time 3D Reconstruction at Scale Using Gaussian Splatting (ACM SIGGRAPH 2024) - RTG-SLAM/LICENSE at main · azuryl/RTG-SLAM
We present Real-time Gaussian SLAM (RTG-SLAM), a real-time 3D reconstruction system with an RGBD camera for large-scale environments using Gaussian splatting. The system features a compact Gaussian representation and a highly efficient on-the-fly Gaussian optimization scheme. We force each Gaussian...
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RTG-SLAM-BACKEND / License-gpl.txt GNU General Public License v3.0 Permissions of this strong copyleft license are conditioned on making available complete source code of licensed works and modifications, which include larger works using a licensed work, under the same license. Copyright and ...
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