RTG-SLAM: Real-time 3D Reconstruction at Scale using Gaussian Splatting
RTG-SLAM: Real-time 3D Reconstruction at Scale using Gaussian Splatting
We present Real-time Gaussian SLAM (RTG-SLAM), a real-time 3D reconstruction system with an RGBD camera for large-scale environments using Gaussian splatting. The system features a compact Gaussian representation and a highly efficient on-the-fly Gaussian optimization scheme. We force each Gaussian to be either opaque or nearly transparent, with the opaque …