Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splatting

arXiv:2312.10070v2 Announce Type: replace
Abstract: We present a dense simultaneous localization and mapping (SLAM) method that uses 3D Gaussians as a scene representation. Our approach enables interactive-time reconstruction and photo-realistic rendering from real-world single-camera RGBD videos. To this end, we propose a novel effective strategy for seeding new Gaussians for newly explored areas and their effective online optimization that is independent of the scene size and thus scalable to larger scenes. This is achieved by organizing the scene into sub-maps …

abstract arxiv cs.cv cs.ro interactive localization mapping novel photo rendering representation slam strategy type videos world