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arXiv · 2412.20056

GSplatLoc: Ultra-Precise Camera Localization via 3D Gaussian Splatting

Atticus J. Zeller·Haijuan Wu
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Abstract

We present GSplatLoc, a camera localization method that leverages the differentiable rendering capabilities of 3D Gaussian splatting for ultra-precise pose estimation. By formulating pose estimation as a gradient-based optimization problem that minimizes discrepancies between rendered depth maps from a pre-existing 3D Gaussian scene and observed depth images, GSplatLoc achieves translational errors within 0.01 cm and near-zero rotational errors on the Replica dataset - significantly outperforming existing methods. Evaluations on the Replica and TUM RGB-D datasets demonstrate the method's robustness in challenging indoor environments with complex camera motions. GSplatLoc sets a new benchmark for localization in dense mapping, with important implications for applications requiring accurate real-time localization, such as robotics and augmented reality.

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Atticus J. Zeller, Haijuan Wu. 2024-12-28. GSplatLoc: Ultra-Precise Camera Localization via 3D Gaussian Splatting. https://arxiv.org/abs/2412.20056

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