Paul H.J. Kelly — accepted AI-conference papers

2024

Gaussian Splatting SLAM

Hidenobu Matsuki, Riku Murai, Paul H.J. Kelly, Andrew J. Davison

CVPR 2024highlight

We present the first application of 3D Gaussian Splatting in monocular SLAM the most fundamental but the hardest setup for Visual SLAM. Our method which runs live at 3fps utilises Gaussians as the only 3D representation unifying the required representation for accurate efficient tracking mapping and…

Cited by 637 Source ↗PDF ↗Scholar ↗

2019

SLAMBench 3.0: Systematic Automated Reproducible Evaluation of SLAM Systems for Robot Vision Challenges and Scene Understanding

Mihai Bujanca, Paul Gafton, Sajad Saeedi, Andy Nisbet, Bruno Bodin, Michael F.P. O'Boyle +6

ICRA 2019poster

As the SLAM research area matures and the number of SLAM systems available increases, the need for frameworks that can objectively evaluate them against prior work grows. This new version of SLAMBench moves beyond traditional visual SLAM, and provides new support for scene understanding and non-rigi…

Cited by 47 Source ↗Scholar ↗