GRAND-SLAM combines local submap optimization with inter- and intra-robot loop closure to produce globally consistent multi-agent Gaussian splatting maps in large-scale outdoor environments.
Bad SLAM: Bundle adjusted direct RGB-D SLAM,
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GRAND-SLAM: Local Optimization for Globally Consistent Large-Scale Multi-Agent Gaussian SLAM
GRAND-SLAM combines local submap optimization with inter- and intra-robot loop closure to produce globally consistent multi-agent Gaussian splatting maps in large-scale outdoor environments.