Embracing Dynamics: Dynamics-aware 4D Gaussian Splatting SLAM
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arXiv
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| Autori principali: | , , |
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| Natura: | Preprint |
| Pubblicazione: |
2025
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| _version_ | 1866911291118977024 |
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| author | Sun, Zhicong Lo, Jacqueline Hu, Jinxing |
| author_facet | Sun, Zhicong Lo, Jacqueline Hu, Jinxing |
| contents | Simultaneous localization and mapping (SLAM) technology has recently achieved photorealistic mapping capabilities thanks to the real-time, high-fidelity rendering enabled by 3D Gaussian Splatting (3DGS). However, due to the static representation of scenes, current 3DGS-based SLAM encounters issues with pose drift and failure to reconstruct accurate maps in dynamic environments. To address this problem, we present D4DGS-SLAM, the first SLAM method based on 4DGS map representation for dynamic environments. By incorporating the temporal dimension into scene representation, D4DGS-SLAM enables high-quality reconstruction of dynamic scenes. Utilizing the dynamics-aware InfoModule, we can obtain the dynamics, visibility, and reliability of scene points, and filter out unstable dynamic points for tracking accordingly. When optimizing Gaussian points, we apply different isotropic regularization terms to Gaussians with varying dynamic characteristics. Experimental results on real-world dynamic scene datasets demonstrate that our method outperforms state-of-the-art approaches in both camera pose tracking and map quality. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_04844 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Embracing Dynamics: Dynamics-aware 4D Gaussian Splatting SLAM Sun, Zhicong Lo, Jacqueline Hu, Jinxing Robotics Computer Vision and Pattern Recognition Simultaneous localization and mapping (SLAM) technology has recently achieved photorealistic mapping capabilities thanks to the real-time, high-fidelity rendering enabled by 3D Gaussian Splatting (3DGS). However, due to the static representation of scenes, current 3DGS-based SLAM encounters issues with pose drift and failure to reconstruct accurate maps in dynamic environments. To address this problem, we present D4DGS-SLAM, the first SLAM method based on 4DGS map representation for dynamic environments. By incorporating the temporal dimension into scene representation, D4DGS-SLAM enables high-quality reconstruction of dynamic scenes. Utilizing the dynamics-aware InfoModule, we can obtain the dynamics, visibility, and reliability of scene points, and filter out unstable dynamic points for tracking accordingly. When optimizing Gaussian points, we apply different isotropic regularization terms to Gaussians with varying dynamic characteristics. Experimental results on real-world dynamic scene datasets demonstrate that our method outperforms state-of-the-art approaches in both camera pose tracking and map quality. |
| title | Embracing Dynamics: Dynamics-aware 4D Gaussian Splatting SLAM |
| topic | Robotics Computer Vision and Pattern Recognition |
| url | https://arxiv.org/abs/2504.04844 |