CGS-SLAM: マルチエージェント再構成のための協調的ガウススプラッティングSLAM
CGS-SLAM: Collaborative Gaussian Splatting based SLAM for Multi-Agent Reconstruction
RGBと慣性データのみを用いて、複数のエージェントが協調して3DGS SLAMを行うシステムを提案。各エージェントが局所追跡とスケール付きマップ構築を行い、中央サーバーがサブマップを整列させる。
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著者: Jean-Daniel de Ambrogi, Aladine Chetouani, Vincent Nguyen, Aurélien Chateigner
分類: cs.CV, cs.RO
原文アブストラクト
Recent advances in SLAM have leveraged 3DGS for photorealistic reconstruction and novel view synthesis. However, most methods rely on RGB-D input, which is unavailable on consumer-grade smartphones, and few integrate 3DGS within a collaborative framework. Therefore, we present CGS-SLAM, a hybrid decentralized/centralized system enabling multi-agent 3DGS SLAM using only RGB and inertial data. Each agent performs local tracking with inertial data as a motion prior and reconstructs a scaled map using a metric monocular depth estimator (Depth Pro). Keyframe encodings are shared among agents, enabling dynamic keyframing in regions of spatial overlaps with other agents, enhancing submap alignment. Afterwards, a central server aligns submaps using VGGT as a view alignment model. This bidirectional communication keeps communication cost low during mapping and global reconstruction in difficult GNSS-denied environments. Experiments on multiple datasets demonstrate competitive tracking performance, improved rendering quality over state-of-the-art methods, and accurate submap alignment.