ODGS-SLAM is presented, an omnidirectional simultaneous localization and mapping (SLAM) system utilizing 3D Gaussian Splatting (3DGS) as the unified representation for tracking and mapping that reconstructs scene geometry from panoramic image sequences via splats while also estimating the camera poses.
Experiments show that MS-SLAM stabilizes per-frame processing while maintaining competitive trajectory accuracy and rendering quality, and further demonstrate the feasibility of online RGB-D mapping in real indoor scenes.
Ben Wang, Yueri Cai, Jian-Qiao Xu· The Visual Computer· 0 citations
This work presents CGS-SLAM, a hybrid decentralized/centralized system enabling multi-agent 3DGS SLAM using only RGB and inertial data, and demonstrates competitive tracking performance, improved rendering quality over state-of-the-art methods, and accurate submap alignment.
Jean-Daniel de Ambrogi, Aladine Chetouani, Vincent Nguyen et al.· 0 citations
Real-time dense SLAM is a core capability for robotics applications that require robust localization and high- quality mapping in dynamic or fast-changing environments. Recent 3D Gaussian Splatting (3DGS)-based SLAM methods have shown promising performance, but most are designed for narrow-FoV pinhole cameras, where li...
Yong-Qi Mao, Hao-Wen Shi, Yufan Zhang et al.· 0 citations
This paper proposes LV-GS SLAM, a novel system that integrates LiDAR and visual data for incremental, large-scale reconstruction with real-time tracking, and develops a keyframe-based submap management framework that dynamically adjusts memory allocation based on both primitive density and inter-frame overlap ratio, ef...
Recent studies highlight the effectiveness of 3D Gaussian splatting (3DGS) in visual simultaneous localization and mapping (SLAM) systems, which work well indoors but struggle in large-scale outdoor environments. Typically, lidar data are used to address this issue; however, current multi-modal SLAM systems use 3DGS ma...
We present AMB3R-SLAM, a real-time monocular SLAM system capable of reconstructing kilometer-scale trajectories over 10k frames on a single consumer-grade GPU. Our model couples a lightweight front-end for low-latency online tracking with a hierarchical backend that progressively enforces local, mid-level, and global c...
Hengyi Wang, Lourdes Agapito· 0 citations
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