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Poster

SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAM

Mingrui Li · Shuhong Liu · Heng Zhou · Guohao Zhu · Na Cheng · Tianchen Deng · Hongyu Wang

[ ] [ Project Page ]
Fri 4 Oct 1:30 a.m. PDT — 3:30 a.m. PDT

Abstract:

We present SGS-SLAM, the first semantic visual SLAM system based on Gaussian Splatting. It incorporates appearance, geometry, and semantic features through multi-channel optimization, addressing the oversmoothing limitations of neural implicit SLAM systems in high-quality rendering, scene understanding, and object-level geometry. We introduce a unique semantic feature loss that effectively compensates for the shortcomings of traditional depth and color losses in object optimization. Through a semantic-guided keyframe selection strategy, we prevent erroneous reconstructions caused by cumulative errors. Extensive experiments demonstrate that SGS-SLAM delivers state-of-the-art performance in camera pose estimation, map reconstruction, precise semantic segmentation, and object-level geometric accuracy, while ensuring real-time rendering capabilities.

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