Mode-GS: Monocular Depth Guided Anchored 3D Gaussian Splatting for Robust Ground-View Scene Rendering
We present a novel-view rendering algorithm, Mode-GS, for ground-robot trajectory datasets. Our approach is based on using anchored Gaussian splats, which are designed to overcome the limitations of existing 3D Gaussian splatting algorithms. Prior neural rendering methods suffer from severe splat drift due to scene complexity and insufficient multi-view observation, and can fail to fix splats on the true geometry in ground-robot datasets. Our method integrates pixel-aligned anchors from monocular depths and generates Gaussian splats around these anchors using residual-form Gaussian decoders. To address the inherent scale ambiguity of monocular depth, we parameterize anchors with per-view depth-scales and employ scale-consistent depth loss for online scale calibration. Our method results in improved rendering performance, based on PSNR, SSIM, and LPIPS metrics, in ground scenes with free trajectory patterns, and achieves state-of-the-art rendering performance on the R3LIVE odometry dataset and the Tanks and Temples dataset.
Code (0)
등록된 구현이 없습니다.
Tasks
Neural RenderingSSIMSimilar Papers 제목 키워드 기반
MOGS: Monocular Object-guided Gaussian Splatting in Large Scenes
Recent advances in 3D Gaussian Splatting (3DGS) deliver striking photorealism, and extending it to large scenes opens new opportunities for semantic reasoning and prediction in applications such as autonomous driving. To…
Autonomous DrivingPoint CloudsHI-SLAM2: Geometry-Aware Gaussian SLAM for Fast Monocular Scene Reconstruction
We present HI-SLAM2, a geometry-aware Gaussian SLAM system that achieves fast and accurate monocular scene reconstruction using only RGB input. Existing Neural SLAM or 3DGS-based SLAM methods often trade off between rend…
3DGSEndo-4DGS: Endoscopic Monocular Scene Reconstruction with 4D Gaussian Splatting
In the realm of robot-assisted minimally invasive surgery, dynamic scene reconstruction can significantly enhance downstream tasks and improve surgical outcomes. Neural Radiance Fields (NeRF)-based methods have recently …
Depth EstimationDynamic ReconstructionMonocular Depth EstimationMonocular Reconstruction+2Dynamic Gaussians Mesh: Consistent Mesh Reconstruction from Monocular Videos
Modern 3D engines and graphics pipelines require mesh as a memory-efficient representation, which allows efficient rendering, geometry processing, texture editing, and many other downstream operations. However, it is sti…
Towards Accurate Single Panoramic 3D Detection: A Semantic Gaussian Centric Approach
Three-dimensional object detection in panoramic imagery is crucial for comprehensive scene understanding, yet accurately mapping 2D features to 3D remains a significant challenge. Prevailing methods often project 2D feat…
Scene UnderstandingDepth EstimationObject Detection