| Title: |
VIGS-Fusion: Fast Gaussian Splatting SLAM processed onboard a small quadrirotor |
| Authors: |
Ndoye, Abdoullah; Nègre, Amaury; Marchand, Nicolas; Ruffier, Franck |
| Contributors: |
GIPSA - COntrol, PErception, Robots, navigation and Intelligent Computing (GIPSA-COPERNIC); GIPSA Pôle Sciences des Données (GIPSA-PSD); Grenoble Images Parole Signal Automatique (GIPSA-lab); Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP); Université Grenoble Alpes (UGA)-Centre National de la Recherche Scientifique (CNRS)-Université Grenoble Alpes (UGA)-Institut polytechnique de Grenoble - Grenoble Institute of Technology (Grenoble INP); Université Grenoble Alpes (UGA)-Grenoble Images Parole Signal Automatique (GIPSA-lab); Université Grenoble Alpes (UGA); GIPSA-Services (GIPSA-Services); Institut des Sciences du Mouvement Etienne Jules Marey (ISM); Aix Marseille Université (AMU)-Centre National de la Recherche Scientifique (CNRS); Equipe ROBotics for EXploration (Lab-STICC_ROBEX); Laboratoire des sciences et techniques de l'information, de la communication et de la connaissance (Lab-STICC); École Nationale d'Ingénieurs de Brest (ENIB); Université de Brest (UBO EPE)-Institut National Polytechnique de Bretagne (Bretagne INP)-Université de Brest (UBO EPE)-Institut National Polytechnique de Bretagne (Bretagne INP)-Université de Bretagne Sud (UBS)-Centre National de la Recherche Scientifique (CNRS)-IMT Atlantique (IMT Atlantique); Institut Mines-Télécom Paris (IMT)-Institut Mines-Télécom Paris (IMT)-École Nationale Supérieure de Techniques Avancées (ENSTA); Institut Polytechnique de Paris (IP Paris)-Institut Polytechnique de Paris (IP Paris)-École Nationale d'Ingénieurs de Brest (ENIB); Institut Polytechnique de Paris (IP Paris)-Institut Polytechnique de Paris (IP Paris); École Nationale Supérieure de Techniques Avancées (ENSTA); Institut Polytechnique de Paris (IP Paris); ANR-20-CE33-0009,Dark-NAV,Navigation sans GPS en environnement sombre au moyen de flashs apériodiques de photo-localisation(2020) |
| Source: |
ICAR ( International Conference on Advanced Robotics) ; https://hal.science/hal-05192786 ; ICAR ( International Conference on Advanced Robotics), Dec 2025, San Juan, Argentina |
| Publisher Information: |
CCSD |
| Publication Year: |
2025 |
| Collection: |
Université Grenoble Alpes: HAL |
| Subject Terms: |
SLAM Simultaneous Localisation and Mapping; UAV; Gaussian splatting; [INFO.INFO-RB]Computer Science [cs]/Robotics [cs.RO]; [INFO.INFO-CV]Computer Science [cs]/Computer Vision and Pattern Recognition [cs.CV] |
| Subject Geographic: |
San Juan; Argentina |
| Description: |
International audience ; Real-time dense visual-inertial SLAM remains a major challenge for resource-constrained UAVs, especially when using 3D Gaussian Splatting (3DGS). While 3DGS enables high quality 3D reconstruction, it suffers from high computational cost and weak tracking robustness. In this paper, we introduce VIGS-Fusion, an efficient 3DGS SLAM system that can operate fully onboard. Our method computes a robust and accurate pose from a single tightly-coupled optimization problem that incorporates RGB-D data, preintegrated IMU measurements, velocity, and IMU bias. By using a second-order approximation and a loss based on the observed image gradients for pose estimation, we significantly reduced computational time while maintaining high tracking performance. We also provide a real-world dataset collected with our compact quadrotor, capturing RGB-D and IMU measurements. Experimental results demonstrated accurate and robust tracking while achieving over a 30x reduction in computation time for the tracking compared to state-of-the-art 3DGS SLAM systems. For the first time, we showed real-time 3D Gaussian Splatting SLAM processed entirely onboard a 6-inch UAV. The code is available at: https://github.com/AbdoullahNdoye/VIGS-Fusion.git. |
| Document Type: |
conference object |
| Language: |
English |
| Availability: |
https://hal.science/hal-05192786; https://hal.science/hal-05192786v1/document; https://hal.science/hal-05192786v1/file/VIGS-Fusion.pdf |
| Rights: |
http://creativecommons.org/licenses/by-nc/ ; info:eu-repo/semantics/OpenAccess |
| Accession Number: |
edsbas.BA8F3DDE |
| Database: |
BASE |