{"paper":{"title":"LIV-GaussMap: LiDAR-Inertial-Visual Fusion for Real-time 3D Radiance Field Map Rendering","license":"http://arxiv.org/licenses/nonexclusive-distrib/1.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Chunran Zheng, Junjie He, Shaojie Shen, Sheng Hong, Xinhu Zheng","submitted_at":"2024-01-26T13:36:46Z","abstract_excerpt":"We introduce an integrated precise LiDAR, Inertial, and Visual (LIV) multimodal sensor fused mapping system that builds on the differentiable \\pre{surface splatting }\\now{Gaussians} to improve the mapping fidelity, quality, and structural accuracy. Notably, this is also a novel form of tightly coupled map for LiDAR-visual-inertial sensor fusion.\n  This system leverages the complementary characteristics of LiDAR and visual data to capture the geometric structures of large-scale 3D scenes and restore their visual surface information with high fidelity. The initialization for the scene's surface "},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2401.14857","kind":"arxiv","version":2},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2401.14857/integrity.json","findings":[],"available":true,"detectors_run":[],"snapshot_sha256":"c28c3603d3b5d939e8dc4c7e95fa8dfce3d595e45f758748cecf8e644a296938"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}