GSFusion: Online RGB-D Mapping Where Gaussian Splatting Meets TSDF Fusion

Understand

Traditional volumetric fusion algorithms preserve the spatial structure of 3D scenes, which is beneficial for many tasks in computer vision and robotics.

• However, they often lack realism in terms of visualization.
• Emerging 3D Gaussian splatting bridges this gap, but existing Gaussian-based reconstruction methods often suffer from artifacts and inconsistencies with the underlying 3D structure, and struggle with real-time optimization, unable to provide users with immediate feedback in high quality.
• One of the bottlenecks arises from the massive amount of Gaussian parameters that need to be updated during optimization.