Splat-LOAM: Gaussian Splatting LiDAR Odometry and Mapping
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| Main Authors: | , , , , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866912286926438400 |
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| author | Giacomini, Emanuele Di Giammarino, Luca De Rebotti, Lorenzo Grisetti, Giorgio Oswald, Martin R. |
| author_facet | Giacomini, Emanuele Di Giammarino, Luca De Rebotti, Lorenzo Grisetti, Giorgio Oswald, Martin R. |
| contents | LiDARs provide accurate geometric measurements, making them valuable for ego-motion estimation and reconstruction tasks. Although its success, managing an accurate and lightweight representation of the environment still poses challenges. Both classic and NeRF-based solutions have to trade off accuracy over memory and processing times. In this work, we build on recent advancements in Gaussian Splatting methods to develop a novel LiDAR odometry and mapping pipeline that exclusively relies on Gaussian primitives for its scene representation. Leveraging spherical projection, we drive the refinement of the primitives uniquely from LiDAR measurements. Experiments show that our approach matches the current registration performance, while achieving SOTA results for mapping tasks with minimal GPU requirements. This efficiency makes it a strong candidate for further exploration and potential adoption in real-time robotics estimation tasks. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2503_17491 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Splat-LOAM: Gaussian Splatting LiDAR Odometry and Mapping Giacomini, Emanuele Di Giammarino, Luca De Rebotti, Lorenzo Grisetti, Giorgio Oswald, Martin R. Robotics Computer Vision and Pattern Recognition LiDARs provide accurate geometric measurements, making them valuable for ego-motion estimation and reconstruction tasks. Although its success, managing an accurate and lightweight representation of the environment still poses challenges. Both classic and NeRF-based solutions have to trade off accuracy over memory and processing times. In this work, we build on recent advancements in Gaussian Splatting methods to develop a novel LiDAR odometry and mapping pipeline that exclusively relies on Gaussian primitives for its scene representation. Leveraging spherical projection, we drive the refinement of the primitives uniquely from LiDAR measurements. Experiments show that our approach matches the current registration performance, while achieving SOTA results for mapping tasks with minimal GPU requirements. This efficiency makes it a strong candidate for further exploration and potential adoption in real-time robotics estimation tasks. |
| title | Splat-LOAM: Gaussian Splatting LiDAR Odometry and Mapping |
| topic | Robotics Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2503.17491 |