We present a new dense simultaneous localization and mapping (SLAM) method that uses Gaussian splats as a scene representation. The new representation enables interactive-time reconstruction and photo-realistic rendering of real-world and synthetic scenes. We propose novel strategies for seeding and optimizing Gaussian splats to extend their use from multiview offline scenarios to sequential monocular RGBD input data setups. In addition, we extend Gaussian splats to encode geometry and experiment with tracking against this scene representation. Our method achieves state-of-the-art rendering quality on both real-world and synthetic datasets while being competitive in reconstruction performance and runtime.

我们提出了一种新的稠密同时定位与建图（SLAM）方法，该方法使用高斯斑点作为场景表示。该新的表示方法能够实时重建和真实渲染真实世界和合成场景，并通过提出新的策略来扩展高斯斑点的应用，使其从多视角离线场景扩展到顺序单色RGBD输入数据的设置。此外，我们还将高斯斑点扩展到编码几何并通过跟踪在此场景表示上进行实验。我们的方法在真实世界和合成数据集上实现了最先进的渲染质量，同时在重建性能和运行时间方面具有竞争力。

高斯-SLAM：基于高斯投射的高清稠密SLAM