LIVE-GS: Online LiDAR-Inertial-Visual State Estimation and Globally Consistent Mapping with 3D Gaussian Splatting

Jaeseok Park, Chanoh Park, Minsu Kim +2

While 3D Gaussian Splatting (3DGS) enabled photorealistic mapping, its integration into SLAM has largely followed traditional camera-centric pipelines. As a result, they inherit we…