UDGS-SLAM: UniDepth Assisted Gaussian Splatting for Monocular SLAM
Recent advancements in monocular neural depth estimation, particularly those achieved by the UniDepth network, have prompted the investigation of integrating UniDepth within a Gaussian splatting framework for monocular SLAM. This study presents UDGS-SLAM, a novel approach that eliminates the necessi...
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| Format: | Article |
| Language: | English |
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Elsevier
2025-07-01
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| Online Access: | http://www.sciencedirect.com/science/article/pii/S259000562500027X |
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| author | Mostafa Mansour Ahmed Abdelsalam Ari Happonen Jari Porras Esa Rahtu |
| author_facet | Mostafa Mansour Ahmed Abdelsalam Ari Happonen Jari Porras Esa Rahtu |
| author_sort | Mostafa Mansour |
| collection | DOAJ |
| description | Recent advancements in monocular neural depth estimation, particularly those achieved by the UniDepth network, have prompted the investigation of integrating UniDepth within a Gaussian splatting framework for monocular SLAM. This study presents UDGS-SLAM, a novel approach that eliminates the necessity of RGB-D sensors for depth estimation within Gaussian splatting framework. UDGS-SLAM employs statistical filtering to ensure local consistency of the estimated depth and jointly optimizes camera trajectory and Gaussian scene representation parameters. The proposed method achieves high-fidelity rendered images and low ATE-RMSE of the camera trajectory. The performance of UDGS-SLAM is rigorously evaluated using the TUM RGB-D dataset and benchmarked against several baseline methods, demonstrating superior performance across various scenarios. Additionally, an ablation study is conducted to validate design choices and investigate the impact of different network backbone encoders on system performance. |
| format | Article |
| id | doaj-art-20ec5fc6f0254079954d676c8badbfd5 |
| institution | OA Journals |
| issn | 2590-0056 |
| language | English |
| publishDate | 2025-07-01 |
| publisher | Elsevier |
| record_format | Article |
| series | Array |
| spelling | doaj-art-20ec5fc6f0254079954d676c8badbfd52025-08-20T02:07:31ZengElsevierArray2590-00562025-07-012610040010.1016/j.array.2025.100400UDGS-SLAM: UniDepth Assisted Gaussian Splatting for Monocular SLAMMostafa Mansour0Ahmed Abdelsalam1Ari Happonen2Jari Porras3Esa Rahtu4Faculty of Engineering and Natural Sciences, Tampere University, Finland; Corresponding authors.School of Engineering Science, LUT University, Finland; Corresponding authors.School of Engineering Science, LUT University, FinlandSchool of Engineering Science, LUT University, Finland; School of Electrical Engineering, Aalto University, FinlandFaculty of Information Technology and Communication Sciences, Tampere University, FinlandRecent advancements in monocular neural depth estimation, particularly those achieved by the UniDepth network, have prompted the investigation of integrating UniDepth within a Gaussian splatting framework for monocular SLAM. This study presents UDGS-SLAM, a novel approach that eliminates the necessity of RGB-D sensors for depth estimation within Gaussian splatting framework. UDGS-SLAM employs statistical filtering to ensure local consistency of the estimated depth and jointly optimizes camera trajectory and Gaussian scene representation parameters. The proposed method achieves high-fidelity rendered images and low ATE-RMSE of the camera trajectory. The performance of UDGS-SLAM is rigorously evaluated using the TUM RGB-D dataset and benchmarked against several baseline methods, demonstrating superior performance across various scenarios. Additionally, an ablation study is conducted to validate design choices and investigate the impact of different network backbone encoders on system performance.http://www.sciencedirect.com/science/article/pii/S259000562500027XUniDepthGaussian splittingMonocular SLAMDense SLAMMappingScene representation |
| spellingShingle | Mostafa Mansour Ahmed Abdelsalam Ari Happonen Jari Porras Esa Rahtu UDGS-SLAM: UniDepth Assisted Gaussian Splatting for Monocular SLAM Array UniDepth Gaussian splitting Monocular SLAM Dense SLAM Mapping Scene representation |
| title | UDGS-SLAM: UniDepth Assisted Gaussian Splatting for Monocular SLAM |
| title_full | UDGS-SLAM: UniDepth Assisted Gaussian Splatting for Monocular SLAM |
| title_fullStr | UDGS-SLAM: UniDepth Assisted Gaussian Splatting for Monocular SLAM |
| title_full_unstemmed | UDGS-SLAM: UniDepth Assisted Gaussian Splatting for Monocular SLAM |
| title_short | UDGS-SLAM: UniDepth Assisted Gaussian Splatting for Monocular SLAM |
| title_sort | udgs slam unidepth assisted gaussian splatting for monocular slam |
| topic | UniDepth Gaussian splitting Monocular SLAM Dense SLAM Mapping Scene representation |
| url | http://www.sciencedirect.com/science/article/pii/S259000562500027X |
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