Compact 3D Gaussian Splatting For Dense Visual SLAM

• URL: http://arxiv.org/abs/2403.11247v2
• Date: Fri, 27 Sep 2024 06:22:50 GMT
• Title: Compact 3D Gaussian Splatting For Dense Visual SLAM
• Authors: Tianchen Deng, Yaohui Chen, Leyan Zhang, Jianfei Yang, Shenghai Yuan, Jiuming Liu, Danwei Wang, Hesheng Wang, Weidong Chen,
• Abstract summary: We propose a compact 3D Gaussian Splatting SLAM system that reduces the number and the parameter size of Gaussian ellipsoids. A sliding window-based masking strategy is first proposed to reduce the redundant ellipsoids. Our method achieves faster training and rendering speed while maintaining the state-of-the-art (SOTA) quality of the scene representation.
• Score: 32.37035997240123
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Recent work has shown that 3D Gaussian-based SLAM enables high-quality reconstruction, accurate pose estimation, and real-time rendering of scenes. However, these approaches are built on a tremendous number of redundant 3D Gaussian ellipsoids, leading to high memory and storage costs, and slow training speed. To address the limitation, we propose a compact 3D Gaussian Splatting SLAM system that reduces the number and the parameter size of Gaussian ellipsoids. A sliding window-based masking strategy is first proposed to reduce the redundant ellipsoids. Then we observe that the covariance matrix (geometry) of most 3D Gaussian ellipsoids are extremely similar, which motivates a novel geometry codebook to compress 3D Gaussian geometric attributes, i.e., the parameters. Robust and accurate pose estimation is achieved by a global bundle adjustment method with reprojection loss. Extensive experiments demonstrate that our method achieves faster training and rendering speed while maintaining the state-of-the-art (SOTA) quality of the scene representation.

Related papers

• 3D Convex Splatting: Radiance Field Rendering with 3D Smooth Convexes [87.01284850604495]
  We introduce 3D Convexting (3DCS), which leverages 3D smooth convexes as primitives for modeling geometrically-meaningful radiance fields from multiview images. 3DCS achieves superior performance over 3DGS on benchmarks such as MipNeizer, Tanks and Temples, and Deep Blending. Our results highlight the potential of 3D Convexting to become the new standard for high-quality scene reconstruction.
  arXiv  Detail & Related papers  (2024-11-22T14:31:39Z)
• PF3plat: Pose-Free Feed-Forward 3D Gaussian Splatting [54.7468067660037]
  PF3plat sets a new state-of-the-art across all benchmarks, supported by comprehensive ablation studies validating our design choices. Our framework capitalizes on fast speed, scalability, and high-quality 3D reconstruction and view synthesis capabilities of 3DGS.
  arXiv  Detail & Related papers  (2024-10-29T15:28:15Z)
• Visual SLAM with 3D Gaussian Primitives and Depth Priors Enabling Novel View Synthesis [11.236094544193605]
  Conventional geometry-based SLAM systems lack dense 3D reconstruction capabilities. We propose a real-time RGB-D SLAM system that incorporates a novel view synthesis technique, 3D Gaussian Splatting.
  arXiv  Detail & Related papers  (2024-08-10T21:23:08Z)
• PUP 3D-GS: Principled Uncertainty Pruning for 3D Gaussian Splatting [59.277480452459315]
  We propose a principled spatial sensitivity pruning score that outperforms current approaches. We also propose a multi-round prune-refine pipeline that can be applied to any pretrained 3D-GS model. Our pipeline increases the average rendering speed of 3D-GS by 2.65$times$ while retaining more salient foreground information.
  arXiv  Detail & Related papers  (2024-06-14T17:53:55Z)
• GaussianForest: Hierarchical-Hybrid 3D Gaussian Splatting for Compressed Scene Modeling [40.743135560583816]
  We introduce the Gaussian-Forest modeling framework, which hierarchically represents a scene as a forest of hybrid 3D Gaussians. Experiments demonstrate that Gaussian-Forest not only maintains comparable speed and quality but also achieves a compression rate surpassing 10 times.
  arXiv  Detail & Related papers  (2024-06-13T02:41:11Z)
• Recent Advances in 3D Gaussian Splatting [31.3820273122585]
  3D Gaussian Splatting has greatly accelerated rendering speed of novel view synthesis. The explicit representation of 3D Gaussian Splatting facilitates editing tasks like dynamic reconstruction, geometry editing, and physical simulation. We present a literature review of recent 3D Gaussian Splatting methods, which can be roughly classified into 3D reconstruction, 3D editing, and other downstream applications.
  arXiv  Detail & Related papers  (2024-03-17T07:57:08Z)
• GaussianPro: 3D Gaussian Splatting with Progressive Propagation [49.918797726059545]
  3DGS relies heavily on the point cloud produced by Structure-from-Motion (SfM) techniques. We propose a novel method that applies a progressive propagation strategy to guide the densification of the 3D Gaussians. Our method significantly surpasses 3DGS on the dataset, exhibiting an improvement of 1.15dB in terms of PSNR.
  arXiv  Detail & Related papers  (2024-02-22T16:00:20Z)
• Gaussian Splatting SLAM [16.3858380078553]
  We present the first application of 3D Gaussian Splatting in monocular SLAM. Our method runs live at 3fps, unifying the required representation for accurate tracking, mapping, and high-quality rendering. Several innovations are required to continuously reconstruct 3D scenes with high fidelity from a live camera.
  arXiv  Detail & Related papers  (2023-12-11T18:19:04Z)
• LightGaussian: Unbounded 3D Gaussian Compression with 15x Reduction and 200+ FPS [55.85673901231235]
  We introduce LightGaussian, a method for transforming 3D Gaussians into a more compact format. Inspired by Network Pruning, LightGaussian identifies Gaussians with minimal global significance on scene reconstruction. LightGaussian achieves an average 15x compression rate while boosting FPS from 144 to 237 within the 3D-GS framework.
  arXiv  Detail & Related papers  (2023-11-28T21:39:20Z)
• GS-SLAM: Dense Visual SLAM with 3D Gaussian Splatting [51.96353586773191]
  We introduce textbfGS-SLAM that first utilizes 3D Gaussian representation in the Simultaneous Localization and Mapping system. Our method utilizes a real-time differentiable splatting rendering pipeline that offers significant speedup to map optimization and RGB-D rendering. Our method achieves competitive performance compared with existing state-of-the-art real-time methods on the Replica, TUM-RGBD datasets.
  arXiv  Detail & Related papers  (2023-11-20T12:08:23Z)

This list is automatically generated from the titles and abstracts of the papers in this site.

This site does not guarantee the quality of this site (including all information) and is not responsible for any consequences.