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About this paper
Jean-Daniel de Ambrogi, Aladine Chetouani, Vincent Nguyen, Aurélien Chateigner
CGS-SLAM is a collaborative 3D Gaussian Splatting (3DGS) based SLAM system that reconstructs metrically scaled, photorealistic 3D maps using only RGB cameras and Inertial Measurement Units (IMUs) from multiple agents. The system accurately predicts trajectory scale from the initial frame and achieves sub-meter spatial alignment of submaps within 10 seconds in multi-agent scenarios.
Key insights
- The integration of metric monocular depth estimation (MMDE) allows for direct, scale-consistent 3DGS map initialization and reconstruction from the first frame, effectively replacing explicit depth sensor input.
- Incorporating IMU pre-integration significantly enhances camera pose tracking accuracy, particularly during rapid motions, leading to improved map quality and robustness.
- Dynamic keyframing, guided by low-bandwidth keyframe encoding exchanges, biases local keyframe selection in overlapping areas, substantially improving global map alignment and consistency in multi-agent environments.
Summary by alphaXiv.
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