Boyin Feng

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

"Recently neural radiance fields (NeRF) have been widely exploited as 3D representations for dense simultaneous localization and mapping (SLAM). Despite their notable successes in surface modeling and novel view synthesis, existing NeRF-based methods are hindered by their computationally intensive a…