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Related Keyframe Optimization Gaussian–Simultaneous Localization and Mapping: A 3D Gaussian Splatting-Based Simultaneous Localization and Mapping with Related Keyframe Optimization

Simultaneous localization and mapping (SLAM) is the basis for intelligent robots to explore the world. As a promising method for 3D reconstruction, 3D Gaussian splatting (3DGS) integrated with SLAM systems has shown significant potential. However, due to environmental uncertainties, errors in the tr...

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Principais autores: Xiasheng Ma, Ci Song, Yimin Ji, Shanlin Zhong
Format: Artigo
Sprog:Inglês
Udgivet: MDPI AG 2025-01-01
Serier:Applied Sciences
Fag:
dense visual SLAM
scene reconstruction
3D Gaussian splatting
keyframe selection
RGB-D SLAM
Online adgang:https://www.mdpi.com/2076-3417/15/3/1320
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