NGM-SLAM: Gaussian Splatting SLAM with Radiance Field Submap

Understand

SLAM systems based on Gaussian Splatting have garnered attention due to their capabilities for rapid real-time rendering and high-fidelity mapping.

• However, current Gaussian Splatting SLAM systems usually struggle with large scene representation and lack effective loop closure detection.
• To address these issues, we introduce NGM-SLAM, the first 3DGS based SLAM system that utilizes neural radiance field submaps for progressive scene expression, effectively integrating the strengths of neural radiance fields and 3D Gaussian Splatting.
• We utilize neural radiance field submaps as supervision and achieve high-quality scene expression and online loop closure adjustments through Gaussian rendering of fused submaps.