MGS-SLAM: Monocular Sparse Tracking and Gaussian Mapping with Depth
Smooth Regularization
MGS-SLAM: Monocular Sparse Tracking and Gaussian Mapping with Depth
Smooth Regularization
This letter introduces a novel framework for dense Visual Simultaneous Localization and Mapping (VSLAM) based on Gaussian Splatting. Recently Gaussian Splatting-based SLAM has yielded promising results, but rely on RGB-D input and is weak in tracking. To address these limitations, we uniquely integrates advanced sparse visual odometry with a dense …