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Gaussian Splatting SLAM
Gaussian Splatting SLAM
We present the first application of 3D Gaussian Splatting to incremental 3D reconstruction using a single moving monocular or RGB-D camera. Second, by utilising the explicit nature of the Gaussians, we introduce geometric verification and regularisation to handle the ambiguities occurring in incremental 3D dense reconstruction. Finally, we introduce a full SLAM system which not only achieves state-of-the-art results in novel view synthesis and trajectory estimation, but also reconstruction of tiny and even transparent objects.
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