A real-time RGB-D SLAM system that represents surfaces as 2D Gaussian disks and uses them in GICP tracking plus a normal-supervised loss, improving reconstruction accuracy on Replica and TUM-RGBD.
Sp-slam: Surfel-point simultaneous lo- calization and mapping,
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G2S-ICP SLAM: Geometry-aware Gaussian Splatting ICP SLAM
A real-time RGB-D SLAM system that represents surfaces as 2D Gaussian disks and uses them in GICP tracking plus a normal-supervised loss, improving reconstruction accuracy on Replica and TUM-RGBD.