MrNeRF (@janusch_patas)
2025-05-29 | โค๏ธ 102 | ๐ 14
UP-SLAM: Adaptively Structured Gaussian SLAM with Uncertainty Prediction in Dynamic Environments
Contributions: (i) An uncertainty-aware parallel tracking and mapping framework is proposed to effectively mitigate dynamic disturbances without relying on predefined semantic annotations. This enables the construction of high-quality, artifact-free static maps.
(ii) We propose an adaptive structured 3DGS scene representation with a probabilistic octree, which supports automatic Gaussian primitive allocation or pruning in dynamic environments. This approach enhances localization accuracy and reduces model size.
(iii) We integrate our approach into ORB-SLAM3 [2] and conduct comprehensive evaluations on multiple datasets. Additionally, we introduce a protocol for assessing rendering quality in dynamic environments and will release our datasets to the public.
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Tags
domain-vision-3d domain-rendering domain-ai-ml domain-dev-tools