GeomGS learns a per-Gaussian Geometric Confidence Score to weight LiDAR distance constraints, producing 3DGS maps that support weighted-ICP and image-refinement localization.
Vegs: View extrapolation of urban scenes in 3d gaussian splatting using learned priors,
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GeomGS: LiDAR-Guided Geometry-Aware Gaussian Splatting for Robot Localization
GeomGS learns a per-Gaussian Geometric Confidence Score to weight LiDAR distance constraints, producing 3DGS maps that support weighted-ICP and image-refinement localization.