Lidar-Visual-Inertial Odometry with Gaussian Splatting

This project was conducted within Robotics System Lab at ETH Zurich.

Descriptions:

• Incorporated LiDAR’s depth instead of stereo-based depth to improve accuracy and consistency of GS SLAM.
• Implemented a loosely coupled, optimization-based LVIO system by fusing Lidar and RGB data.
• Outperformed other GS-SLAM methods by the time on localization accuracy and processing speed.