Gaussove trodimenzionalne reprezentacije za istovremenu lokalizaciju i mapiranje vizualnim senzorima

master's thesis

• Title (english): Gaussian splatting for simultaneous localization and mapping with visual sensors
• Author: Ante Sladić
• Mentor: Ivan Marković (mentor)
• Committee member: Ivan Marković (član povjerenstva)
• Committee member: Ivan Petrović (član povjerenstva)
• Committee member: Luka Petrović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2024-07-10, Croatia

Abstract

Kroz rad daje se uvid u SLAM sustave, reprezentacije scene uključujući NeRF i Gaussove trodimenzionalne reprezentacije, te naposljetku sustav MonoGS kao primjer SLAM sustava sa integriranim Gaussovim trodimenzionalnim reprezentacijama, popraćen sa rezultatima dobivenim u eksperimentima. Cilj je prikazati prednosti trodimenzionalnih Gaussovih reprezentacija kroz teorijsku pozadinu kako bi shvatili zašto su superioriniji naspram prethodnih reprezentacija i kroz eksperimente kako bi to potvrdili tu hipotezu.

Abstract (english)

The paper gives insight into SLAM systems, scene representations including NeRF and Gaussian three-dimensional representations, and finally the MonoGS system as an example of a SLAM system with integrated Gaussian three-dimensional representations, accompanied by results obtained in experiments. The goal is to show the advantages of three-dimensional Gaussian representations through theoretical background to understand why they are superior to previous representations and through experiments to confirm this hypothesis.

• Keywords: neuronska radijalna polja; Gaussove trodimenzionalne reprezentacije; SLAM; MonoGS; računalni vid; monokularna kamera
• Keywords (english): neural radiance fields; 3D Gaussian scene representations; SLAM; MonoGS; computer vision; monocular camera
• Language: croatian
• URN:NBN: urn:nbn:hr:168:878928
• Study programme: Title: Computing; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka računarstva (magistar/magistra inženjer/inženjerka računarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2024-10-12 22:06:58