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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…
HypeVPR: Exploring Hyperbolic Space for Perspective to Equirectangular Visual Place Recognition
Suhan Woo, Seongwon Lee, Jinwoo Jang +1
Visual environments are inherently hierarchical, as a panoramic view naturally encompasses and organizes multiple perspective views within its field. Capturing this hierarchy is cr…
RE-TRIP : Reflectivity Instance Augmented Triangle Descriptor for 3D Place Recognition
Yechan Park, Gyuhyeon Pak, Euntai Kim
While most people associate LiDAR primarily with its ability to measure distances and provide geometric information about the environment (via point clouds), LiDAR also captures ad…
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…
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…