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

in this video we present goshan slam our new rgbt Slam method that achieves photorealistic rendering on real world data sets with Gan slam we aim to address the limitations of curo rgbt Slam methods and reconstruction and rendering of reward scenes without compromising on speed and efficiency our method can encode high frequency details and handle motion blow more effectively than competitive approaches like Point slam resulting in Superior rendering accuracy on both real and synthetic data sets performance Improvement stems from our novel scene representation which utilizes 3D gions our approach involves segmenting the entire scene into distin submaps which are dynamically expanded based on the input data furthermore we expend fre gions to encode both depth and color enabling accurate geometry reconstruction this along with kful 3D gion seating and optimization makes classical 3D gion suitable for slams scenarios upon receiving an input post rgbd key frame it is sub sample taking into account the color gradient the sample points are then projected to the 3D space where new gions are initialized with their means at the sample locations these new 3D gions are added to the currently active segment of the global map with within the parse regions the input rgbd key frame is temporarily stored alongside other key frames that have contributed to the active submap once the new gions have been integrated into the active submap all key frames contributing to the active submap are rendered subsequently the depth and color losses are computed with respect to the submap input key frames finally the parameters of the gions belonging to the currently active subwap are updated this process is repeated iteratively for a fixed number of iterations here we show side by-side renderings on a real world data set comparing our approach with the recent Dance rgbd Slam pipelines such as Point slam and N slam where our method shows Superior performance while showing impressive rendering performance on real world data sets our method performs on par with the latest methods in reconstruction finally Gan slam enables real time rendering of the scene reconstructions thanks to the underlying 3D gorion representation

Channel: Vladimir Yugay

Views: 1,886

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Id: RZK1o_ija7M

Length: 2min 58sec (178 seconds)

Published: Tue Dec 12 2023