Ziqing Ai

VINGS-Mono: Visual-Inertial Gaussian Splatting Monocular SLAM in Large Scenes

VINGS-Mono is a monocular inertial Gaussian Splatting (GS) SLAM framework designed for large-scale scenes. It integrates four main components: VIO Front End, 2D Gaussian Map, NVS Loop Closure, and Dynamic Eraser. The VIO Front End processes RGB frames with dense bundle adjustment and uncertainty est…