A 3D Gaussian Splatting SLAM system that initializes anchors from ORB-SLAM3 point clouds and predicts per-view appearance from camera pose, improving novel-view PSNR by up to about 20% over MonoGS.
The euroc micro aerial vehicle datasets
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SEGS-SLAM: Structure-enhanced 3D Gaussian Splatting SLAM with Appearance Embedding
A 3D Gaussian Splatting SLAM system that initializes anchors from ORB-SLAM3 point clouds and predicts per-view appearance from camera pose, improving novel-view PSNR by up to about 20% over MonoGS.