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[SIGGRAPH '24] RTG-SLAM: Real-time 3D Reconstruction at Scale Using Gaussian Splatting Paper (pdf link): Project: Code: Method ⬇️ 1 I 2

35,675 views • 2 years ago •via X (Twitter)

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MrNeRF's profile picture
MrNeRF2 years ago

2 l 2

Surgeflow's profile picture
Surgeflow2 years ago

There is something new and impressive coming out every day.

MrNeRF's profile picture
MrNeRF2 years ago

It's crazy!

Nils Pihl (broodsugar.eth)'s profile picture
Nils Pihl (broodsugar.eth)2 years ago

That’s so hot.

Tim Reha's profile picture
Tim Reha2 years ago

Super cool sweet!!

MrNeRF's profile picture
MrNeRF2 years ago

Exactly!

Antoan Bekele's profile picture
Antoan Bekele2 years ago

Is this actual SLAM or just reconstruction? I don't see poses or trajectory estimation.

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MAGS-SLAM: Monocular Multi-Agent Gaussian Splatting SLAM for Geometrically and Photometrically Consistent Reconstruction TL;DR: The first RGB-only multi-agent 3D Gaussian Splatting SLAM for collaborative photorealistic scene reconstruction. Contributions: (1) We propose the first monocular RGB-only multi-agent 3D Gaussian Splatting SLAM system. It integrates Gaussian front-ends, compact submap summaries, inter-agent verification, Sim(3) submap pose graph, and occupancy-aware fusion into a unified framework, achieving accurate tracking and photorealistic reconstruction without depth sensors. (2) We propose a Pose-Graph Bundle Adjustment (PGBA)-consistent Sim(3) loop closure mechanism for multi-agent systems, which jointly resolves intra- and inter-agent scale drift through a submap-level Sim(3) pose graph coupling geometric and photometric residuals. Robustness is ensured by a spatial-extent gate that rejects degenerate loops and an adaptive edge invalidation scheme consistent with evolving PGBA corrections. (3) We propose an occupancy-aware fusion framework for coherent multi-agent Gaussian maps. It combines occupancy-grid deduplication, decoupled coordinator, and joint pose-Gaussian photometric refinement to eliminate duplicated Gaussians, residual misalignment, and photometric seams across agents. (4) We introduce ReplicaMultiagent Plus dataset. While existing multi-agent datasets are typically limited to 2-3 agents with short trajectories, our dataset scales to 4 agents with long-horizon trajectories. In addition, we provide ground-truth geometry and semantic annotations, supporting the evaluation of monocular, RGB-D, and semantic multi-agent SLAM for collaborative dense reconstruction.

MrNeRF

19,357 views • 2 months ago