How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Survey

arXiv:2402.13255v1 Announce Type: new
Abstract: Over the past two decades, research in the field of Simultaneous Localization and Mapping (SLAM) has undergone a significant evolution, highlighting its critical role in enabling autonomous exploration of unknown environments. This evolution ranges from hand-crafted methods, through the era of deep learning, to more recent developments focused on Neural Radiance Fields (NeRFs) and 3D Gaussian Splatting (3DGS) representations. Recognizing the growing body of research and the absence of a comprehensive survey on the topic, …

abstract arxiv autonomous cs.cv cs.ro deep learning enabling environments evolution exploration highlighting localization mapping research role slam survey through type