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.
Jun 1, 2024
