MM-Gaussian: 3D Gaussian-based Multi-modal Fusion for Localization and Reconstruction in Unbounded Scenes

arXiv:2404.04026v1 Announce Type: cross
Abstract: Localization and mapping are critical tasks for various applications such as autonomous vehicles and robotics. The challenges posed by outdoor environments present particular complexities due to their unbounded characteristics. In this work, we present MM-Gaussian, a LiDAR-camera multi-modal fusion system for localization and mapping in unbounded scenes. Our approach is inspired by the recently developed 3D Gaussians, which demonstrate remarkable capabilities in achieving high rendering quality and fast rendering speed. Specifically, our system fully utilizes …

abstract applications arxiv autonomous autonomous vehicles challenges complexities cs.cv cs.ro environments fusion lidar localization mapping modal multi-modal robotics tasks type vehicles work