(1)引入了 SGS-SLAM,一种利用三维高斯的稠密语义 SLAM 系统。SGS-SLAM 使用显式体积表示,实现了快速和实时的摄像机跟踪和场景建图。更重要的是,它利用二维语义地图来学习高斯表达的三维语义表示。与先前基于 NeRF 的方法相比,后者在物体边缘过度平滑时,SGS-SLAM 提供了与真值水平相似的分割精度。 (2)在 SGS-SL...
SGS - SLAM是第一个在单一框架下实现同时定位、重建和分割的基于高斯的SLAM系统。 稠密SLAM可以在未知环境中重建稠密3D地图,这两年大家都是用NeRF来做。但是MLP 在物体边缘处存在过度平滑的问题,导致地图中缺乏细粒度的细节,而且MLP在大场景容易发生灾难性遗忘。 这篇文章将语义地图集成到三维高斯场中,允许在颜色、...
conda create -n sgs-slam python=3.9 conda activate sgs-slam conda install -c "nvidia/label/cuda-11.8.0" cuda-toolkit conda install pytorch==2.0.1 torchvision==0.15.2 torchaudio==2.0.2 cudatoolkit=11.8 pytorch-cuda=11.8 -c pytorch -c nvidia pip install -r requirements.txt...
We present SGS-SLAM, the first semantic visual SLAM system based on Gaussian Splatting. It incorporates appearance, geometry, and semantic features through multi-channel optimization, addressing the oversmoothing limitations of neural implicit SLAM systems in high-quality rendering, scene understanding, ...
[ECCV 2024] SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAM - SGS-SLAM/venv_requirements.txt at main · Minisoco/SGS-SLAM
We present SGS-SLAM, the first semantic visual SLAM system based on Gaussian Splatting. It incorporates appearance, geometry, and semantic features through multi-channel optimization, addressing the oversmoothing limitations of neural implicit SLAM systems in high-quality rendering, scene understanding, an...
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SRC-3000FS 由仙工智能自主研发的安全型 AMR 控制器,通过了 SGS TUV SAAR 功能安全认证。SRC-3000FS 集激光SLAM导航、功能安全于一体的,是目前唯一通过该认证的控制器产品。这是全球控制器领域的技术首次突破,彰显仙工智能的技术实力,见证国产控制器的制高点的诞生。
We present SGS-SLAM, the first semantic visual SLAM system based on Gaussian Splatting. It incorporates appearance, geometry, and semantic features through multi-channel optimization, addressing the oversmoothing limitations of neural implicit SLAM systems in high-quality rendering, scene understanding, ...
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