https://github.com/AtticusZeller/GsplatLoc

😎 GsplatLoc 🎯: Ultra-Precise Pose Optimization via 3D Gaussian Reprojection 🌟
https://github.com/AtticusZeller/GsplatLoc

3d-reconstruction 6dof camerapose-estimate computer-vision deeplearning gaussian-splatting gsplat localization python pytorch slam

Last synced: about 1 year ago
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😎 GsplatLoc 🎯: Ultra-Precise Pose Optimization via 3D Gaussian Reprojection 🌟

• Host: GitHub
• URL: https://github.com/AtticusZeller/GsplatLoc
• Owner: Atticuszz
• License: mit
• Created: 2024-05-24T02:08:55.000Z (about 2 years ago)
• Default Branch: main
• Last Pushed: 2024-09-13T04:56:13.000Z (almost 2 years ago)
• Last Synced: 2024-09-13T19:35:45.898Z (almost 2 years ago)
• Topics: 3d-reconstruction, 6dof, camerapose-estimate, computer-vision, deeplearning, gaussian-splatting, gsplat, localization, python, pytorch, slam
• Language: Python
• Homepage:
• Size: 539 KB
• Stars: 2
• Watchers: 2
• Forks: 0
• Open Issues: 1
• Metadata Files:
  • Readme: README.md
  • Changelog: CHANGELOG.md
  • License: LICENSE
  • Codeowners: .github/CODEOWNERS

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README

          
## GsplatLoc

[x] clean config in base.py

1. tracking

   1. [x] normalize pcd and pose via PCA 

   2. [x] update depth_gt with a proper method 

   3. [x] loss with depth and edge and normals

   4. [x] find an early stop condition !!! -> total loss and later than 100 step

   5. [x] sync data shape and avoid too much middle vars through backward

   6. [x] total dataset eval

      1. [x] replica

         1. [x]gsplatloc

         2. [x]icps

      2. TUM