RTG-SLAM: Real-time 3D Reconstruction at Scale using Gaussian Splatting

arXiv:2404.19706v1 Announce Type: new
Abstract: We propose RTG-SLAM, a real-time 3D reconstruction system with an RGBD camera for large-scale environments using Gaussian splatting. RTG-SLAM features a compact Gaussian representation and a highly efficient on-the-fly Gaussian optimization scheme. We force each Gaussian to be either opaque or nearly transparent, with the opaque ones fitting the surface and dominant colors, and transparent ones fitting residual colors. By rendering depth in a different way from color rendering, we let a single opaque Gaussian …

3d reconstruction abstract arxiv compact cs.cv environments features fly optimization real-time representation scale slam transparent type