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cs.RO2025
G2S-ICP SLAM: Geometry-aware Gaussian Splatting ICP SLAM
Gyuhyeon Pak, Hae Min Cho, Euntai Kim
In this paper, we present a novel geometry-aware RGB-D Gaussian Splatting SLAM system, named G2S-ICP SLAM. The proposed method performs high-fidelity 3D reconstruction and robust c…
cs.RO2025
GeomGS: LiDAR-Guided Geometry-Aware Gaussian Splatting for Robot Localization
Jaewon Lee, Mangyu Kong, Minseong Park +1
Mapping and localization are crucial problems in robotics and autonomous driving. Recent advances in 3D Gaussian Splatting (3DGS) have enabled precise 3D mapping and scene understa…
cs.RO2025
VIGS SLAM: IMU-based Large-Scale 3D Gaussian Splatting SLAM
Gyuhyeon Pak, Euntai Kim
Recently, map representations based on radiance fields such as 3D Gaussian Splatting and NeRF, which excellent for realistic depiction, have attracted considerable attention, leadi…