MrNeRF (@janusch_patas)
2025-04-15 | โค๏ธ 72 | ๐ 12
Constrained Optimization Approach for Gaussian Splatting from Coarsely-posed Images and Noisy Lidar Point Clouds
Contributions: โข The first constrained optimization approach for training 3DGS, refining poor camera and point cloud initialization from a multi-camera SLAM system.
โข Derivation and refinement of camera intrinsics, extrinsics, and 3DGS scene representation using four proposed optimization constraints.
โข Introduction of a new dataset capturing complex indoor and large-scale outdoor scenes from hardware featuring multiple RGB cameras, IMU, and Lidar.
โข Achieves competitive performance against existing 3DGS methods that rely on COLMAP, but with significantly less pre-processing time.
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Tags
domain-vision-3d domain-robotics domain-ai-ml domain-visionos