CaRtGS: Computational Alignment for Real-Time Gaussian Splatting SLAM
Fuente:
arXiv
Enregistré dans:
| Auteurs principaux: | , , , , , |
|---|---|
| Format: | Preprint |
| Publié: |
2024
|
| Sujets: | |
| Accès en ligne: | |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866910866111201280 |
|---|---|
| author | Feng, Dapeng Chen, Zhiqiang Yin, Yizhen Zhong, Shipeng Qi, Yuhua Chen, Hongbo |
| author_facet | Feng, Dapeng Chen, Zhiqiang Yin, Yizhen Zhong, Shipeng Qi, Yuhua Chen, Hongbo |
| contents | Simultaneous Localization and Mapping (SLAM) is pivotal in robotics, with photorealistic scene reconstruction emerging as a key challenge. To address this, we introduce Computational Alignment for Real-Time Gaussian Splatting SLAM (CaRtGS), a novel method enhancing the efficiency and quality of photorealistic scene reconstruction in real-time environments. Leveraging 3D Gaussian Splatting (3DGS), CaRtGS achieves superior rendering quality and processing speed, which is crucial for scene photorealistic reconstruction. Our approach tackles computational misalignment in Gaussian Splatting SLAM (GS-SLAM) through an adaptive strategy that enhances optimization iterations, addresses long-tail optimization, and refines densification. Experiments on Replica, TUM-RGBD, and VECtor datasets demonstrate CaRtGS's effectiveness in achieving high-fidelity rendering with fewer Gaussian primitives. This work propels SLAM towards real-time, photorealistic dense rendering, significantly advancing photorealistic scene representation. For the benefit of the research community, we release the code and accompanying videos on our project website: https://dapengfeng.github.io/cartgs. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2410_00486 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | CaRtGS: Computational Alignment for Real-Time Gaussian Splatting SLAM Feng, Dapeng Chen, Zhiqiang Yin, Yizhen Zhong, Shipeng Qi, Yuhua Chen, Hongbo Computer Vision and Pattern Recognition Robotics Simultaneous Localization and Mapping (SLAM) is pivotal in robotics, with photorealistic scene reconstruction emerging as a key challenge. To address this, we introduce Computational Alignment for Real-Time Gaussian Splatting SLAM (CaRtGS), a novel method enhancing the efficiency and quality of photorealistic scene reconstruction in real-time environments. Leveraging 3D Gaussian Splatting (3DGS), CaRtGS achieves superior rendering quality and processing speed, which is crucial for scene photorealistic reconstruction. Our approach tackles computational misalignment in Gaussian Splatting SLAM (GS-SLAM) through an adaptive strategy that enhances optimization iterations, addresses long-tail optimization, and refines densification. Experiments on Replica, TUM-RGBD, and VECtor datasets demonstrate CaRtGS's effectiveness in achieving high-fidelity rendering with fewer Gaussian primitives. This work propels SLAM towards real-time, photorealistic dense rendering, significantly advancing photorealistic scene representation. For the benefit of the research community, we release the code and accompanying videos on our project website: https://dapengfeng.github.io/cartgs. |
| title | CaRtGS: Computational Alignment for Real-Time Gaussian Splatting SLAM |
| topic | Computer Vision and Pattern Recognition Robotics |
| url | https://arxiv.org/abs/2410.00486 |