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We present the first application of 3D Gaussian Splatting in monocular SLAM, the most fundamental but the hardest setup for Visual SLAM.
Ewa splatting
M. Zwicker, H. Pfister, J. van Baar, and M. Gross · 2002
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Registration of Point Cloud Data from a Geometric Optimization Perspective
N. J. Mitra, N. Gelfand, H. Pottmann, and L. J. Guibas · 2004
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KinectFusion: Real-Time Dense Surface Mapping and Tracking
R. A. Newcombe, S. Izadi, O. Hilliges, D. Molyneaux, D. Kim, A. J. Davison, P. Kohli, J. Shotton, S. Hodges, and A. Fitzgibbon · 2011
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Dense Visual SLAM
R. A. Newcombe · 2012
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A Benchmark for the Evaluation of RGB-D SLAM Systems
J. Sturm, N. Engelhard, F. Endres, W. Burgard, and D. Cremers · 2012
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Real-time 3D Reconstruction in Dynamic Scenes using Point-based Fusion
M. Keller, D. Lefloch, M. Lambers, S. Izadi, T. Weyrich, and A. Kolb · 2013
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Real-time 3D Reconstruction at Scale using Voxel Hashing
M. Nießner, M. Zollhöfer, S. Izadi, and M. Stamminger · 2013
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SVO: Fast Semi-Direct Monocular Visual Odometry
C. Forster, M. Pizzoli, and D. Scaramuzza · 2014
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A framework for the volumetric integration of depth images
Victor Adrian Prisacariu, Olaf Kähler, Ming-Ming Cheng, Carl Yuheng Ren, Julien P. C. Valentin, Philip H. S. Torr, Ian D. Reid, and David W. Murray · 2014
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Adam: A method for stochastic optimization
Diederik P. Kingma and Jimmy Ba · 2015
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ORB-SLAM: a Versatile and Accurate Monocular SLAM System
R. Mur-Artal, J. M. M Montiel, and J. D. Tardós · 2015
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BundleFusion: Real-time Globally Consistent 3D Reconstruction using On-the-fly Surface Re-integration
Angela Dai, Matthias Nießner, Michael Zollhöfer, Shahram Izadi, and Christian Theobalt · 2017
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Direct sparse odometry
J. Engel, V. Koltun, and D. Cremers · 2017
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SemanticFusion: Dense 3D semantic mapping with convolutional neural networks
J. McCormac, A. Handa, A. J. Davison, and S. Leutenegger · 2017
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ORB-SLAM2: An Open-Source SLAM System for Monocular, Stereo, and RGB-D Cameras
R. Mur-Artal and J. D. Tardós · 2017
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A micro Lie theory for state estimation in robotics
J. Solà, J. Deray, and D. Atchuthan · 2018
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Efficient octree-based volumetric SLAM supporting signed-distance and occupancy mapping
Emanuele Vespa, Nikolay Nikolov, Marius Grimm, Luigi Nardi, Paul HJ Kelly, and Stefan Leutenegger · 2018
Cited alongside, same era.
A general optimization-based framework for local odometry estimation with multiple sensors, 2019
Tong Qin, Jie Pan, Shaozu Cao, and Shaojie Shen · 2019
Cited alongside, same era.
Bad slam: Bundle adjusted direct rgb-d slam
Thomas Schöps, Torsten Sattler, and Marc Pollefeys · 2019
Cited alongside, same era.
The Replica dataset: A digital replica of indoor spaces
Julian Straub, Thomas Whelan, Lingni Ma, Yufan Chen, Erik Wijmans, Simon Green, Jakob J. Engel, Raul Mur-Artal, Carl Ren, Shobhit Verma, Anton Clarkson, Mingfei Yan, Brian Budge, Yajie Yan, Xiaqing Pan, June Yon, Yuyang Zou, Kimberly Leon, Nigel Carter, Jesus Briales, Tyler Gillingham, Elias Mueggler, Luis Pesqueira, Manolis Savva, Dhruv Batra, Hauke M. Strasdat, Renzo De Nardi, Michael Goesele, Steven Lovegrove, and Richard Newcombe · 2019
Cited alongside, same era.
Deepfactors: Real-time probabilistic dense monocular SLAM
Direct voxel grid optimization: Super-fast convergence for radiance fields reconstruction
Cheng Sun, Min Sun, and Hwann-Tzong Chen · 2022
Later among the works it cites.
Voge: a differentiable volume renderer using gaussian ellipsoids for analysis-by-synthesis
Angtian Wang, Peng Wang, Jian Sun, Adam Kortylewski, and Alan Yuille · 2022
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Vox-fusion: Dense tracking and mapping with voxel-based neural implicit representation
Xingrui Yang, Hai Li, Hongjia Zhai, Yuhang Ming, Yuqian Liu, and Guofeng Zhang · 2022
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Nice-slam: Neural implicit scalable encoding for slam
Zihan Zhu, Songyou Peng, Viktor Larsson, Weiwei Xu, Hujun Bao, Zhaopeng Cui, Martin R. Oswald, and Marc Pollefeys · 2022
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Learning a Depth Covariance Function
Eric Dexheimer and Andrew J. Davison · 2023
Closest in time.
ESLAM: Efficient dense slam system based on hybrid representation of signed distance fields
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J. Czarnowski, T. Laidlow, R. Clark, and A. J. Davison · 2020
Cited alongside, same era.
Neural sparse voxel fields
Lingjie Liu, Jiatao Gu, Kyaw Zaw Lin, Tat-Seng Chua, and Christian Theobalt · 2020
Cited alongside, same era.
Nerf: Representing scenes as neural radiance fields for view synthesis
Ben Mildenhall, Pratul P Srinivasan, Matthew Tancik, Jonathan T Barron, Ravi Ramamoorthi, and Ren Ng · 2020
Cited alongside, same era.
Differentiable volumetric rendering: Learning implicit 3d representations without 3d supervision
Michael Niemeyer, Lars Mescheder, Michael Oechsle, and Andreas Geiger · 2020
Cited alongside, same era.
Surfelmeshing: Online surfel-based mesh reconstruction
Thomas Schöps, Torsten Sattler, and Marc Pollefeys · 2020
Cited alongside, same era.
ORB-SLAM3: An accurate open-source library for visual, visual-inertial and multi-map SLAM
Carlos Campos, Richard Elvira, Juan J. Gómez, José M. M. Montiel, and Juan D. Tardós · 2021
Cited alongside, same era.
Di-fusion: Online implicit 3d reconstruction with deep priors
Jiahui Huang, Shi-Sheng Huang, Haoxuan Song, and Shi-Min Hu · 2021
Cited alongside, same era.
iMAP: Implicit mapping and positioning in real-time
E. Sucar, S. Liu, J. Ortiz, and A. J. Davison · 2021
Cited alongside, same era.
M. M. Johari, C. Carta, and F. Fleuret · 2023
Closest in time.
3D gaussian splatting for real-time radiance field rendering
Bernhard Kerbl, Georgios Kopanas, Thomas Leimkühler, and George Drettakis · 2023
Closest in time.
Dense rgb slam with neural implicit maps
Heng Li, Xiaodong Gu, Weihao Yuan, Luwei Yang, Zilong Dong, and Ping Tan · 2023
Closest in time.
Point-slam: Dense neural point cloud-based slam
Erik Sandström, Yue Li, Luc Van Gool, and Martin R. Oswald · 2023
Closest in time.
Co-slam: Joint coordinate and sparse parametric encodings for neural real-time slam
Hengyi Wang, Jingwen Wang, and Lourdes Agapito · 2023
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Dynamic 3d gaussians: Tracking by persistent dynamic view synthesis
Jonathon Luiten, Georgios Kopanas, Bastian Leibe, and Deva Ramanan · 2024
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Dreamgaussian: Generative gaussian splatting for efficient 3d content creation
Jiaxiang Tang, Jiawei Ren, Hang Zhou, Ziwei Liu, and Gang Zeng · 2024
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4d gaussian splatting for real-time dynamic scene rendering
Guanjun Wu, Taoran Yi, Jiemin Fang, Lingxi Xie, Xiaopeng Zhang, Wei Wei, Wenyu Liu, Qi Tian, and Xinggang Wang · 2024
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Real-time photorealistic dynamic scene representation and rendering with 4d gaussian splatting
Zeyu Yang, Hongye Yang, Zijie Pan, Xiatian Zhu, and Li Zhang · 2024
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Gaussiandreamer: Fast generation from text to 3d gaussian splatting with point cloud priors
Taoran Yi, Jiemin Fang, Guanjun Wu, Lingxi Xie, Xiaopeng Zhang, Wenyu Liu, Qi Tian, and Xinggang Wang · 2024
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Nicer-slam: Neural implicit scene encoding for rgb slam
Zihan Zhu, Songyou Peng, Viktor Larsson, Zhaopeng Cui, Martin R Oswald, Andreas Geiger, and Marc Pollefeys · 2024
Closest in time.