Add to Chrome
Add to Firefox
Add to EdgeA Refined 3D Gaussian Representation for High-Quality Dynamic Scene Reconstruction
May 28, 2024
In recent years, Neural Radiance Fields (NeRF) has revolutionized three-dimensional (3D) reconstruction with its implicit representation. Building upon NeRF, 3D Gaussian Splatting (3D-GS) has departed from the implicit representation of neural networks and instead directly represents scenes as point clouds with Gaussian-shaped distributions. While this shift has notably elevated the rendering quality and speed of radiance fields but inevitably led to a significant increase in memory usage. Additionally, effectively rendering dynamic scenes in 3D-GS has emerged as a pressing challenge. To address these concerns, this paper purposes a refined 3D Gaussian representation for high-quality dynamic scene reconstruction. Firstly, we use a deformable multi-layer perceptron (MLP) network to capture the dynamic offset of Gaussian points and express the color features of points through hash encoding and a tiny MLP to reduce storage requirements. Subsequently, we introduce a learnable denoising mask coupled with denoising loss to eliminate noise points from the scene, thereby further compressing 3D Gaussian model. Finally, motion noise of points is mitigated through static constraints and motion consistency constraints. Experimental results demonstrate that our method surpasses existing approaches in rendering quality and speed, while significantly reducing the memory usage associated with 3D-GS, making it highly suitable for various tasks such as novel view synthesis, and dynamic mapping.
2DLIW-SLAM:2D LiDAR-Inertial-Wheel Odometry with Real-Time Loop Closure
Apr 15, 2024Due to budgetary constraints, indoor navigation typically employs 2D LiDAR rather than 3D LiDAR. However, the utilization of 2D LiDAR in Simultaneous Localization And Mapping (SLAM) frequently encounters challenges related to motion degeneracy, particularly in geometrically similar environments. To address this problem, this paper proposes a robust, accurate, and multi-sensor-fused 2D LiDAR SLAM system specifically designed for indoor mobile robots. To commence, the original LiDAR data undergoes meticulous processing through point and line extraction. Leveraging the distinctive characteristics of indoor environments, line-line constraints are established to complement other sensor data effectively, thereby augmenting the overall robustness and precision of the system. Concurrently, a tightly-coupled front-end is created, integrating data from the 2D LiDAR, IMU, and wheel odometry, thus enabling real-time state estimation. Building upon this solid foundation, a novel global feature point matching-based loop closure detection algorithm is proposed. This algorithm proves highly effective in mitigating front-end accumulated errors and ultimately constructs a globally consistent map. The experimental results indicate that our system fully meets real-time requirements. When compared to Cartographer, our system not only exhibits lower trajectory errors but also demonstrates stronger robustness, particularly in degeneracy problem.