Abstract
Online dense mapping of urban scenes forms a fundamental cornerstone for scene understanding and navigation of autonomous vehicles. Recent advancements in mapping methods are mainly based on NeRF, whose rendering speed is too slow to meet online requirements. 3DGS, with its rendering speed hundreds of times faster than NeRF, holds greater potential in online dense mapping.
However, integrating 3DGS into a street-view dense mapping framework still faces two challenges, including incomplete reconstruction due to the absence of geometric information beyond the LiDAR coverage area and extensive computation for reconstruction in large urban scenes.
To this end, we propose HGS-
最低0.47元/天 解锁文章
扫一扫
757
被折叠的 条评论
为什么被折叠?
到【灌水乐园】发言
