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HGS-Mapping: Online Dense Mapping Using Hybrid Gaussian Representation in Urban Scenes
April 1, 2024, 4:45 a.m. | Ke Wu, Kaizhao Zhang, Zhiwei Zhang, Shanshuai Yuan, Muer Tie, Julong Wei, Zijun Xu, Jieru Zhao, Zhongxue Gan, Wenchao Ding
cs.CV updates on arXiv.org arxiv.org
Abstract: Online dense mapping of urban scenes forms a fundamental cornerstone for scene understanding and navigation of autonomous vehicles. Recent advancements in mapping methods are mainly based on NeRF, whose rendering speed is too slow to meet online requirements. 3D Gaussian Splatting (3DGS), with its rendering speed hundreds of times faster than NeRF, holds greater potential in online dense mapping. However, integrating 3DGS into a street-view dense mapping framework still faces two challenges, including incomplete reconstruction …
abstract arxiv autonomous autonomous vehicles cs.cv forms hybrid mapping navigation nerf rendering representation requirements speed type understanding urban vehicles
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