3 papers
cs.CV2025
Gaussian-Plus-SDF SLAM: High-fidelity 3D Reconstruction at 150+ fps
Zhexi Peng, Kun Zhou, Tianjia Shao
While recent Gaussian-based SLAM methods achieve photorealistic reconstruction from RGB-D data, their computational performance remains a critical bottleneck. State-of-the-art tech…
cs.CV2024
RTG-SLAM: Real-time 3D Reconstruction at Scale using Gaussian Splatting
Zhexi Peng, Tianjia Shao, Yong Liu +4
We present Real-time Gaussian SLAM (RTG-SLAM), a real-time 3D reconstruction system with an RGBD camera for large-scale environments using Gaussian splatting. The system features a…
cs.RO2024
X-SLAM: Scalable Dense SLAM for Task-aware Optimization using CSFD
Zhexi Peng, Yin Yang, Tianjia Shao +2
We present X-SLAM, a real-time dense differentiable SLAM system that leverages the complex-step finite difference (CSFD) method for efficient calculation of numerical derivatives,…