(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...
(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...
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/requirements.txt at main · SpicygumL/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...
视觉SLAM中的三角化 摘要:视觉SLAM中的三角化 考虑某路标点 y 在若干个关键帧 k=1,···,n 中看到。 y∈R4 ,取齐次坐标。每次观测为 xk=[uk,vk,1]⊤ 阅读全文 posted @ 2023-03-26 21:11 weihao-ysgs 阅读(201) 评论(0) 推荐(0) 编辑 ...
视觉SLAM中的三角化 考虑某路标点y在若干个关键帧k=1,···,n中看到。 y∈R4,取齐次坐标。每次观测为xk=[uk,vk,1]⊤,取归一化平 面坐标 (这样可以忽略掉内参)。 记投影矩阵Pk=[Rk,tk]∈R3×4,为 World 系到 Camera 系 投影关系: ∀k,λkxk=Pky ...
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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