notesum.ai

Published at November 27

GLS: Geometry-aware 3D Language Gaussian Splatting

cs.CV

Released Date: November 27, 2024

Authors: Jiaxiong Qiu¹, Liu Liu¹, Zhizhong Su¹, Tianwei Lin¹

Aff.: ¹Horizon Robotics, Beijing, China

Arxiv: http://arxiv.org/abs/2411.18066v1

Refer to caption

Methods	Sensor Depth	Algorithm	Accuracy $~{}\downarrow$	Completion $~{}\downarrow$	Chamfer $-L_{1}$ $~{}\downarrow$	Normal Consistency $~{}\uparrow$	F-score $~{}\uparrow$
DN-Splatter [40]	✓	Poisson	0.0402	0.0211	0.0306	0.8449	0.8590
Ours	✓	TSDF	0.0288	0.0254	0.0271	0.8640	0.8924
2DGS [20]	$\times$	TSDF	0.1728	0.1619	0.1674	0.7113	0.3433
PGSR [8]	$\times$	TSDF	0.4957	0.7672	0.6315	0.5566	0.1178
Ours	$\times$	TSDF	0.0903	0.0703	0.0870	0.7830	0.5153