aalto1 untyped-item.component.html
UDGS-SLAM: UniDepth Assisted Gaussian Splatting for Monocular SLAM
Loading...
Files
Access rights
openAccess
CC BY-NC
CC BY-NC
Creative Commons license
Except where otherwised noted, this item's license is described as openAccess
publishedVersion
URL
Journal Title
Journal ISSN
Volume Title
A1 Alkuperäisartikkeli tieteellisessä aikakauslehdessä
This publication is imported from Aalto University research portal.
View publication in the Research portal (opens in new window)
View/Open full text file from the Research portal (opens in new window)
View publication in the Research portal (opens in new window)
View/Open full text file from the Research portal (opens in new window)
Unless otherwise stated, all rights belong to the author. You may download, display and print this publication for Your own personal use. Commercial use is prohibited.
Date
Major/Subject
Mcode
Degree programme
Language
en
Pages
9
Series
Array, Volume 26
Abstract
Recent advancements in monocular neural depth estimation, particularly those achieved by the UniDepth network, have prompted the investigation of integrating UniDepth within a Gaussian splatting framework for monocular SLAM. This study presents UDGS-SLAM, a novel approach that eliminates the necessity of RGB-D sensors for depth estimation within Gaussian splatting framework. UDGS-SLAM employs statistical filtering to ensure local consistency of the estimated depth and jointly optimizes camera trajectory and Gaussian scene representation parameters. The proposed method achieves high-fidelity rendered images and low ATE-RMSE of the camera trajectory. The performance of UDGS-SLAM is rigorously evaluated using the TUM RGB-D dataset and benchmarked against several baseline methods, demonstrating superior performance across various scenarios. Additionally, an ablation study is conducted to validate design choices and investigate the impact of different network backbone encoders on system performance.
Description
Publisher Copyright: © 2025 The Author(s)
Other note
Citation
Mansour, M, Abdelsalam, A, Happonen, A, Porras, J & Rahtu, E 2025, 'UDGS-SLAM: UniDepth Assisted Gaussian Splatting for Monocular SLAM', Array, vol. 26, 100400. https://doi.org/10.1016/j.array.2025.100400