RGBD GS-ICP SLAM

arXiv:2403.12550v1 Announce Type: new
Abstract: Simultaneous Localization and Mapping (SLAM) with dense representation plays a key role in robotics, Virtual Reality (VR), and Augmented Reality (AR) applications. Recent advancements in dense representation SLAM have highlighted the potential of leveraging neural scene representation and 3D Gaussian representation for high-fidelity spatial representation. In this paper, we propose a novel dense representation SLAM approach with a fusion of Generalized Iterative Closest Point (G-ICP) and 3D Gaussian Splatting (3DGS). In contrast to existing methods, …

abstract applications arxiv augmented reality cs.cv fidelity key localization mapping neural scene representation novel paper reality representation robotics role slam spatial type virtual virtual reality