The official repository of our ICRA 2024 paper "MAVIS: Multi-Camera Augmented Visual-Inertial SLAM using SE2(3) Based Exact IMU Pre-integration".

RaDe-GS: Rasterizing Depth in Gaussian Splatting

diff-gaussian-rasterization module in CG-SLAM

RTG-SLAM: Real-time 3D Reconstruction at Scale Using Gaussian Splatting (ACM SIGGRAPH 2024)

code for "PGSR: Planar-based Gaussian Splatting for Efficient and High-Fidelity Surface Reconstruction"

[SIGGRAPH'24] 2D Gaussian Splatting for Geometrically Accurate Radiance Fields

Gaussian Opacity Fields: Efficient and Compact Surface Reconstruction in Unbounded Scenes

LLM training in simple, raw C/CUDA

Efficient Dense RGB-D SLAM in a Consistent Uncertainty-aware 3D Gaussian Field

Production-grade 3D gaussian splatting with CPU/GPU support for Windows, Mac and Linux 🚀

[3DV'24 Best Paper Honorable Mention] NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAM

[ICML2024] Official code for GaussianPro: 3D Gaussian Splatting with Progressive Propagation

[CVPR'24 Highlight] Gaussian Splatting SLAM

LiDAR Inertial Mapping Package

WebGL 3D Gaussian Splat Viewer

📍PIN-SLAM: LiDAR SLAM Using a Point-Based Implicit Neural Representation for Achieving Global Map Consistency [TRO' 24]

Code for "Detector-Free Structure from Motion", CVPR 2024

Code exercises for the SLAM course in 'Computer Vision, LiDAR processing, and Sensor Fusion for Autonomous Driving' lecture series

[CVPR 2024 Highlight] Scaffold-GS: Structured 3D Gaussians for View-Adaptive Rendering

SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM (CVPR 2024)

A comprehensive list of Implicit Representations, NeRF and 3D Gaussian Splatting papers relating to SLAM/Robotics domain, including papers, videos, codes, and related websites

Original reference implementation of "3D Gaussian Splatting for Real-Time Radiance Field Rendering"

[CVPR'23] Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAM

[ICCV2023] GO-SLAM: Global Optimization for Consistent 3D Instant Reconstruction

Official implementation of "Neuralangelo: High-Fidelity Neural Surface Reconstruction" (CVPR 2023)

[PAMI 2022, CVPR 2023] ASH: Parallel Spatial Hashing for Fast Scene Reconstruction

[ICCV2023] NeRF-LOAM: Neural Implicit Representation for Large-Scale Incremental LiDAR Odometry and Mapping

iDisc: Internal Discretization for Monocular Depth Estimation [CVPR 2023]

State-of-the-art, simple, fast unbounded / large-scale NeRFs.