Advancements in 3D Gaussian Splatting-Based SLAM Technology
摘要
3D Gaussian Splatting (3D-GS) technology has demonstrated its transformative potential in explicit radiance fields and the field of computer graphics, and has gradually garnered attention in the domain of Simultaneous Localization and Mapping (SLAM). This article reviews the integration of 3D Gaussian Splatting with SLAM, exploring how 3D-GS can provide precise scene reconstruction and real-time rendering within SLAM. By rasterizing Gaussian ellipsoids to approximate the appearance of 3D scenes, 3D-GS not only achieves quality comparable to novel view synthesis but also facilitates rapid convergence and real-time rendering at high resolutions. The combination of 3D-GS with SLAM technologies significantly advances SLAM systems in applications such as autonomous navigation, robotics, and virtual and augmented reality. This paper compares existing SLAM technologies with the integrated application of 3D-GS, showcasing how 3D-GS optimizes SLAM performance by providing clearer environmental details and faster processing speeds, thereby enhancing mapping capabilities. Moreover, the article discusses the potential of 3D-GS to achieve efficient and reliable mapping in SLAM and explores how further technological integration could optimize this process. Finally, the paper identifies existing issues in current research and potential directions for future studies, aiming to provide references and inspiration for research on the combined application of 3D-GS and SLAM technologies.