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In this paper, we present a real-time photo-realistic SLAM method based on marrying Gaussian Splatting with LiDAR-Inertial-Camera SLAM.
“An iterative image registration technique with an application to stereo vision”
Bruce Lucas and Takeo Kanade · 1981
Earlier work this paper cites.
“Good features to track”
Jianbo Shi · 1994
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“Structure-from-Motion Revisited”
Johannes Sch“”onberger and Jan-Michael Frahm · 2016
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“Vins-mono: A robust and versatile monocular visual-inertial state estimator”
Tong Qin, Peiliang Li and Shaojie Shen · 2018
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“Lic-fusion: Lidar-inertial-camera odometry”
Xingxing Zuo, Patrick Geneva, Woosik Lee, Yong Liu and Guoquan Huang · 2019
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“Lic-fusion 2.0: Lidar-inertial-camera odometry with sliding-window plane-feature tracking”
Xingxing Zuo, Yulin Yang, Patrick Geneva, Jiajun Lv, Yong Liu, Guoquan Huang and Marc Pollefeys · 2020
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“Nerf: Representing scenes as neural radiance fields for view synthesis”
Ben Mildenhall, Pratul Srinivasan, Matthew Tancik, Jonathan Barron, Ravi Ramamoorthi and Ren Ng · 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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“Droid-slam: Deep visual slam for monocular, stereo, and rgb-d cameras”
Zachary Teed and Jia Deng · 2021
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“Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam”
Carlos Campos, Richard Elvira, Juan J“’omez Rodr“’guez, Jos“’e Montiel and Juan Tard“’os · 2021
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“Lvi-sam: Tightly-coupled lidar-visual-inertial odometry via smoothing and mapping”
Tixiao Shan, Brendan Englot, Carlo Ratti and Daniela Rus · 2021
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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 Oswald and Marc Pollefeys · 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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“Instant neural graphics primitives with a multiresolution hash encoding”
Thomas M“”uller, Alex Evans, Christoph Schied and Alexander Keller · 2022
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“R 3 LIVE: A Robust, Real-time, RGB-colored, LiDAR-Inertial-Visual tightly-coupled state Estimation and mapping package”
Jiarong Lin and Fu Zhang · 2022
Earlier work this paper cites.
“FAST-LIVO: Fast and tightly-coupled sparse-direct LiDAR-inertial-visual odometry”
Chunran Zheng, Qingyan Zhu, Wei Xu, Xiyuan Liu, Qizhi Guo and Fu Zhang · 2022
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“Urban radiance fields”
Konstantinos Rematas, Andrew Liu, Pratul Srinivasan, Jonathan Barron, Andrea Tagliasacchi, Thomas Funkhouser and Vittorio Ferrari · 2022
Earlier work this paper cites.
“3D Gaussian Splatting for Real-Time Radiance Field Rendering”
Bernhard Kerbl, Georgios Kopanas, Thomas Leimk“”uhler and George Drettakis · 2023
Earlier work this paper cites.
“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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“Eslam: Efficient dense slam system based on hybrid representation of signed distance fields”
Mohammad Johari, Camilla Carta and Francois Fleuret · 2023
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“Point-slam: Dense neural point cloud-based slam”
Erik Sandstr“”om, Yue Li, Luc Van and Martin Oswald · 2023
Cited alongside, same era.
“Nerf-slam: Real-time dense monocular slam with neural radiance fields”
Antoni Rosinol, John Leonard and Luca Carlone · 2023
Cited alongside, same era.
“NeRF-VO: Real-Time Sparse Visual Odometry with Neural Radiance Fields”
Jens Naumann, Binbin Xu, Stefan Leutenegger and Xingxing Zuo · 2023
Cited alongside, same era.
“Gaussian-slam: Photo-realistic dense slam with gaussian splatting”
Vladimir Yugay, Yue Li, Theo Gevers and Martin Oswald · 2023
Cited alongside, same era.
“Continuous-Time Fixed-Lag Smoothing for LiDAR-Inertial-Camera SLAM”
Jiajun Lv, Xiaolei Lang, Jinhong Xu, Mengmeng Wang, Yong Liu and Xingxing Zuo · 2023
Cited alongside, same era.
“IG-SLAM: Instant Gaussian SLAM”
Furkan Sarikamis and Abdullah Alatan · 2024
Closest in time.
“MGS-SLAM: Monocular Sparse Tracking and Gaussian Mapping with Depth Smooth Regularization”
Pengcheng Zhu, Yaoming Zhuang, Baoquan Chen, Li Li, Chengdong Wu and Zhanlin Liu · 2024
Closest in time.
“Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular Stereo and RGB-D Cameras”
Huajian Huang, Longwei Li, Hui Cheng and Sai-Kit Yeung · 2024
Closest in time.
“Gaussian splatting slam”
Hidenobu Matsuki, Riku Murai, Paul Kelly and Andrew Davison · 2024
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“Sgs-slam: Semantic gaussian splatting for neural dense slam”
Mingrui Li, Shuhong Liu and Heng Zhou · 2024
Closest in time.
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“Coco-LIC: continuous-time tightly-coupled LiDAR-inertial-camera odometry using non-uniform B-spline”
Xiaolei Lang, Chao Chen, Kai Tang, Yukai Ma, Jiajun Lv, Yong Liu and Xingxing Zuo · 2023
Cited alongside, same era.
“Periodic vibration gaussian: Dynamic urban scene reconstruction and real-time rendering”
Yurui Chen, Chun Gu, Junzhe Jiang, Xiatian Zhu and Li Zhang · 2023
Cited alongside, same era.
“Kiss-icp: In defense of point-to-point icp–simple, accurate, and robust registration if done the right way”
Ignacio Vizzo, Tiziano Guadagnino, Benedikt Mersch, Louis Wiesmann, Jens Behley and Cyrill Stachniss · 2023
Cited alongside, same era.
“How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Survey”
Fabio Tosi, Youmin Zhang, Ziren Gong, Erik Sandstr“”om, Stefano Mattoccia, Martin Oswald and Matteo Poggi · 2024
Cited alongside, same era.
“GaussianGrasper: 3D Language Gaussian Splatting for Open-vocabulary Robotic Grasping”
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“GS-Planner: A Gaussian-Splatting-based Planning Framework for Active High-Fidelity Reconstruction”
Rui Jin, Yuman Gao, Haojian Lu and Fei Gao · 2024
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“Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps”
Timothy Chen, Ola Shorinwa, Weijia Zeng, Joseph Bruno, Philip Dames and Mac Schwager · 2024
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“Semgauss-slam: Dense semantic gaussian splatting slam”
Siting Zhu, Renjie Qin, Guangming Wang, Jiuming Liu and Hesheng Wang · 2024
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“NEDS-SLAM: A Neural Explicit Dense Semantic SLAM Framework using 3D Gaussian Splatting”
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“Deep patch visual odometry”
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“Drivinggaussian: Composite gaussian splatting for surrounding dynamic autonomous driving scenes”
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“Street Gaussians: Modeling Dynamic Urban Scenes with Gaussian Splatting”
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“Liv-gaussmap: Lidar-inertial-visual fusion for real-time 3d radiance field map rendering”
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“LetsGo: Large-Scale Garage Modeling and Rendering via LiDAR-Assisted Gaussian Primitives”
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“Multi-scale 3d gaussian splatting for anti-aliased rendering”
Zhiwen Yan, Weng Low, Yu Chen and Gim Lee · 2024
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“A hierarchical 3d gaussian representation for real-time rendering of very large datasets”
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“Stopthepop: Sorted gaussian splatting for view-consistent real-time rendering”
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