3DGS-ReLoc: 3D Gaussian Splatting for Map Representation and Visual ReLocalization

arXiv:2403.11367v1 Announce Type: new
Abstract: This paper presents a novel system designed for 3D mapping and visual relocalization using 3D Gaussian Splatting. Our proposed method uses LiDAR and camera data to create accurate and visually plausible representations of the environment. By leveraging LiDAR data to initiate the training of the 3D Gaussian Splatting map, our system constructs maps that are both detailed and geometrically accurate. To mitigate excessive GPU memory usage and facilitate rapid spatial queries, we employ a combination …

3d mapping abstract arxiv cs.cv cs.gr cs.ro data environment lidar map mapping novel paper representation the environment training type visual