Songyang He

TLS-SLAM: Gaussian Splatting SLAM Tailored for Large-Scale Scenes

3D Gaussian splatting (3DGS) has shown promise for fast and high-quality mapping in simultaneous localization and mapping (SLAM), but faces convergence challenges in large-scale scenes across three key aspects. Firstly, the excessive Gaussian points in 3DGS models for large-scale scenes make the sea