How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Survey
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arXiv
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| Autori principali: | , , , , , , |
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| Natura: | Preprint |
| Pubblicazione: |
2024
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| _version_ | 1866916663702585344 |
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| author | Tosi, Fabio Zhang, Youmin Gong, Ziren Sandström, Erik Mattoccia, Stefano Oswald, Martin R. Poggi, Matteo |
| author_facet | Tosi, Fabio Zhang, Youmin Gong, Ziren Sandström, Erik Mattoccia, Stefano Oswald, Martin R. Poggi, Matteo |
| contents | Over the past two decades, research in the field of Simultaneous Localization and Mapping (SLAM) has undergone a significant evolution, highlighting its critical role in enabling autonomous exploration of unknown environments. This evolution ranges from hand-crafted methods, through the era of deep learning, to more recent developments focused on Neural Radiance Fields (NeRFs) and 3D Gaussian Splatting (3DGS) representations. Recognizing the growing body of research and the absence of a comprehensive survey on the topic, this paper aims to provide the first comprehensive overview of SLAM progress through the lens of the latest advancements in radiance fields. It sheds light on the background, evolutionary path, inherent strengths and limitations, and serves as a fundamental reference to highlight the dynamic progress and specific challenges. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2402_13255 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Survey Tosi, Fabio Zhang, Youmin Gong, Ziren Sandström, Erik Mattoccia, Stefano Oswald, Martin R. Poggi, Matteo Computer Vision and Pattern Recognition Robotics Over the past two decades, research in the field of Simultaneous Localization and Mapping (SLAM) has undergone a significant evolution, highlighting its critical role in enabling autonomous exploration of unknown environments. This evolution ranges from hand-crafted methods, through the era of deep learning, to more recent developments focused on Neural Radiance Fields (NeRFs) and 3D Gaussian Splatting (3DGS) representations. Recognizing the growing body of research and the absence of a comprehensive survey on the topic, this paper aims to provide the first comprehensive overview of SLAM progress through the lens of the latest advancements in radiance fields. It sheds light on the background, evolutionary path, inherent strengths and limitations, and serves as a fundamental reference to highlight the dynamic progress and specific challenges. |
| title | How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Survey |
| topic | Computer Vision and Pattern Recognition Robotics |
| url | https://arxiv.org/abs/2402.13255 |