Structured-Li-GS integrates LiDAR-inertial-visual SLAM point clouds to initialize and constrain 3D Gaussians, using photometric, depth, normal, flattening, and offset losses to achieve high-quality results with fewer primitives and no densification.
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Structured-Li-GS: Structured 3D Gaussians Splatting with LiDAR Incorporation and Spatial Constraints
Structured-Li-GS integrates LiDAR-inertial-visual SLAM point clouds to initialize and constrain 3D Gaussians, using photometric, depth, normal, flattening, and offset losses to achieve high-quality results with fewer primitives and no densification.