Seongbo Ha

Real-Time LiDAR Gaussian Splatting SLAM

Seungjun Tak, Yewon Jeon, Jaeik Hwang, SukMin Hwang, Seongbo Ha, Hyeonwoo Yu

We present a real-time LiDAR-based framework for Gaussian Splatting SLAM that tightly couples fast G-ICP registration with spherical rasterization-based dense mapping for large-scale sequences. Leveraging LiDAR geometry rather than appearance, we reuse tracking-estimated local co…Read more