TCLC-GS: Tightly Coupled LiDAR-Camera Gaussian Splatting for Surrounding Autonomous Driving Scenes

arXiv:2404.02410v1 Announce Type: new
Abstract: Most 3D Gaussian Splatting (3D-GS) based methods for urban scenes initialize 3D Gaussians directly with 3D LiDAR points, which not only underutilizes LiDAR data capabilities but also overlooks the potential advantages of fusing LiDAR with camera data. In this paper, we design a novel tightly coupled LiDAR-Camera Gaussian Splatting (TCLC-GS) to fully leverage the combined strengths of both LiDAR and camera sensors, enabling rapid, high-quality 3D reconstruction and novel view RGB/depth synthesis. TCLC-GS designs a …

abstract advantages arxiv autonomous autonomous driving capabilities cs.cv data design driving lidar novel paper type urban