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We propose a dense RGBD SLAM system based on 3D Gaussian Splatting that provides metrically accurate pose tracking and visually realistic reconstruction.
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“Kinectfusion: Real-time dense surface mapping and tracking”
Richard Newcombe et al · 2011
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“A benchmark for the evaluation of RGB-D SLAM systems”
Jürgen Sturm et al · 2012
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“ORB-SLAM: a versatile and accurate monocular SLAM system”
Raul Mur-Artal, Jose Montiel and Juan Tardos · 2015
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“Structure-from-Motion Revisited”
Johannes Schonberger and Jan-Michael Frahm · 2016
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“Direct Sparse Odometry”
Jakob Engel, Vladlen Koltun and Daniel Cremers · 2017
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“The Replica Dataset: A Digital Replica of Indoor Spaces”
Julian Straub et al · 2019
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“Self6D: Self-Supervised Monocular 6D Object Pose Estimation”
Gu Wang et al · 2020
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“INeRF: Inverting neural radiance fields for pose estimation”
Lin Yen-Chen et al · 2021
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“iMAP: Implicit Mapping and Positioning in Real-Time”
Edgar Sucar, Shikun Liu, Joseph Ortiz and Andrew Davison · 2021
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“NeRF: Representing Scenes as Neural Radiance Fields for View Synthesis”
Ben Mildenhall et al · 2021
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“BARF: Bundle-Adjusting Neural Radiance Fields”
Chen-Hsuan Lin, Wei-Chiu Ma, Antonio Torralba and Simon Lucey · 2021
Cited alongside, same era.
“Nice-slam: Neural implicit scalable encoding for slam”
Zihan Zhu et al · 2022
Cited alongside, same era.
“Instant Neural Graphics Primitives with a Multiresolution Hash Encoding”
Thomas Müller, Alex Evans, Christoph Schied and Alexander Keller · 2022
Cited alongside, same era.
“Plenoxels: Radiance Fields without Neural Networks”
Sara Fridovich-Keil et al · 2022
Cited alongside, same era.
“SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM”
Nikhil Keetha et al · 2023
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“GS-SLAM: Dense Visual SLAM with 3D Gaussian Splatting”
Chi Yan et al · 2023
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Hidenobu Matsuki, Riku Murai, Paul Kelly and Andrew Davison · 2023
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“Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splatting”
Vladimir Yugay, Yue Li, Theo Gevers and Martin Oswald · 2023
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“ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fields”
Mohammad Johari, Camilla Carta and François Fleuret · 2023
Cited alongside, same era.
“Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAM”
Hengyi Wang, Jingwen Wang and Lourdes Agapito · 2023
Cited alongside, same era.
“Point-SLAM: Dense Neural Point Cloud-based SLAM”
Erik Sandström, Yue Li, Luc Van and Martin Oswald · 2023
Cited alongside, same era.
“3D Gaussian Splatting for Real-Time Radiance Field Rendering”
Bernhard Kerbl, Georgios Kopanas, Thomas Leimkühler and George Drettakis · 2023
Cited alongside, same era.
Huajian Huang, Longwei Li, Hui Cheng and Sai-Kit Yeung · 2023
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“Zip-NeRF: Anti-Aliased Grid-Based Neural Radiance Fields”
Jonathan Barron et al · 2023
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“LERF: Language Embedded Radiance Fields”
Justin Kerr et al · 2023
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“LangSplat: 3D Language Gaussian Splatting”
Minghan Qin et al · 2023
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“A Survey on 3D Gaussian Splatting”
Guikun Chen and Wenguan Wang · 2024
Closest in time.
“Loopy-SLAM: Dense Neural SLAM with Loop Closures”
Lorenzo Liso et al · 2024
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