GS-SLAM: Dense Visual SLAM with 3D Gaussian Splatting

arXiv:2311.11700v4 Announce Type: replace
Abstract: In this paper, we introduce \textbf{GS-SLAM} that first utilizes 3D Gaussian representation in the Simultaneous Localization and Mapping (SLAM) system. It facilitates a better balance between efficiency and accuracy. Compared to recent SLAM methods employing neural implicit representations, our method utilizes a real-time differentiable splatting rendering pipeline that offers significant speedup to map optimization and RGB-D rendering. Specifically, we propose an adaptive expansion strategy that adds new or deletes noisy 3D Gaussians in order to …

arxiv cs.cv slam type visual visual slam