GS-GVINS: A Tightly-integrated GNSS-Visual-Inertial Navigation System Augmented by 3D Gaussian Splatting

Understand

Recently, the emergence of 3D Gaussian Splatting (3DGS) has drawn significant attention in the area of 3D map reconstruction and visual SLAM.

• While extensive research has explored 3DGS for indoor trajectory tracking using visual sensor alone or in combination with Light Detection and Ranging (LiDAR) and Inertial Measurement Unit (IMU), its integration with GNSS for large-scale outdoor navigation remains underexplored.
• To address these concerns, we proposed GS-GVINS: a tightly-integrated GNSS-Visual-Inertial Navigation System augmented by 3DGS.
• This system leverages 3D Gaussian as a continuous differentiable scene representation in largescale outdoor environments, enhancing navigation performance through the constructed 3D Gaussian map.