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<!DOCTYPE html>
<html>
<head>
<!-- <link rel = "icon" href = "assets/title_image.png" type = "image/x-icon"> -->
<meta charset="utf-8">
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content="SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM">
<meta name="keywords" content="SLAM, RGB-D, Dense, Tracking, Mapping, Pose Estimation, Splats, 3D Gaussian Splatting, Gaussians">
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<h1 class="title is-2 publication-title">SplaTAM: Splat, Track & Map 3D Gaussians<br>for Dense RGB-D SLAM</h1>
<h2 class="title is-6 publlication-title">CVPR 2024</h2>
<div class="is-size-6 publication-authors">
<span class="author-block">
<a href="https://nik-v9.github.io/">Nikhil Keetha</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://jaykarhade.github.io/">Jay Karhade</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://krrish94.github.io/">Krishna Murthy Jatavallabhula</a><sup>2</sup>,</span>
<span class="author-block">
<a href="https://gengshan-y.github.io/">Gengshan Yang</a><sup>1</sup>,</span>
<br>
<span class="author-block">
<a href="https://theairlab.org/team/sebastian/">Sebastian Scherer</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://www.cs.cmu.edu/~deva/">Deva Ramanan</a><sup>1</sup>,</span>
<span class="author-block">
<a href="https://www.vision.rwth-aachen.de/person/216/">Jonathon Luiten</a><sup>1</sup></span>
</div>
<div class="is-size-6 publication-authors">
<span class="author-block"><sup>1</sup>Carnegie Mellon University</a>,
<sup>2</sup>Massachusetts Institute of Technology</a>
</div>
<div class="column has-text-centered">
<div class="publication-links">
<!-- PDF Link. -->
<span class="link-block">
<a href="assets/SplaTAM.pdf"
class="external-link button is-normal ">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Paper</span>
</a>
</span>
<span class="link-block">
<a href="https://arxiv.org/abs/2312.02126"
class="external-link button is-normal ">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv</span>
</a>
</span>
<!-- Video Link. -->
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<a href="https://youtu.be/jWLI-OFp3qU"
class="external-link button is-normal ">
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<span>Video</span>
</a>
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<!-- Thread Link. -->
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<a href="https://x.com/Nik__V__/status/1731840557553496410?s=20"
class="external-link button is-normal ">
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<i class="fab fa-twitter"></i>
</span>
<span>Thread</span>
</a>
</span>
<!-- Code Link. -->
<span class="link-block">
<a href="https://github.com/spla-tam/SplaTAM"
class="external-link button is-normal ">
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>Code</span>
</a>
</span>
<!-- Demo Link. -->
<span class="link-block">
<a href="https://spla-tam.github.io/s1-demo/"
class="external-link button is-normal">
<span class="icon">
<i class="fa fa-basketball-ball"></i>
</span>
<span>Demo 1</span>
</a>
</span>
<span class="link-block">
<a href="https://spla-tam.github.io/s2-demo/"
class="external-link button is-normal">
<span class="icon">
<i class="fa fa-basketball-ball"></i>
</span>
<span>Demo 2</span>
</a>
</span>
<!-- Hugging Face Demo Link.
<span class="link-block">
<a href="https://huggingface.co/spaces/TheProjectsGuy/AnyLoc"
class="external-link button is-normal">
<span class="icon">
<i class="fa fa-face-smiling-hands"></i>
</span>
<span>HF Demo</span>
</a>
</span> -->
<!-- Dataset Link. -->
<!-- <span class="link-block">
<a href="#"
class="external-link button is-normal" disabled="true">
<span class="icon">
<i class="far fa-images"></i>
</span>
<span>Data</span>
</a>
</div> -->
</div>
</div>
</div>
</div>
</div>
</section>
<section class="hero teaser">
<div class="container is-max-desktop">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<div class="content">
<video id="s1_recon" autoplay controls muted loop playsinline height="100%">
<source src="./data/scannetpp/scannetpp_s1_recon.mp4"
type="video/mp4">
</video>
</div>
</div>
<div class="column has-text-centered">
<div class="content">
<video id="s1_nvs" autoplay controls muted loop playsinline height="100%">
<source src="./data/scannetpp/scannetpp_s1_nvs_loop.mp4"
type="video/mp4">
</video>
</div>
</div>
</div>
</div>
<h2 class="subtitle has-text-centered">
<span>SplaTAM enables precise camera tracking and high-fidelity reconstruction<br>in challenging real-world scenarios.</span>
</h2>
</div>
</div>
</section>
<section class="hero is-small is-light">
<div class="hero-body">
<div class="container is-max-desktop">
<!-- Abstract. -->
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<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>
Dense simultaneous localization and mapping (SLAM) is crucial for robotics and augmented reality applications.
However, current methods are often hampered by the non-volumetric or implicit way they represent a scene.
This work introduces SplaTAM, an approach that, for the first time, leverages explicit volumetric representations, i.e., 3D Gaussians, to enable high-fidelity reconstruction from a single unposed RGB-D camera, surpassing the capabilities of existing methods.
SplaTAM employs a simple online tracking and mapping system tailored to the underlying Gaussian representation.
It utilizes a silhouette mask to elegantly capture the presence of scene density.
This combination enables several benefits over prior representations, including fast rendering and dense optimization, quickly determining if areas have been previously mapped, and structured map expansion by adding more Gaussians.
Extensive experiments show that SplaTAM achieves up to 2x superior performance in camera pose estimation, map construction, and novel-view synthesis over existing methods, paving the way for more immersive high-fidelity SLAM applications.
</p>
</div>
</div>
</div>
</div>
<!-- Paper video. -->
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<div class="column is-four-fifths">
<h2 class="title is-3">Video</h2>
<div class="publication-video">
<a id="overview_video"></a>
<iframe
src="./data/">
</iframe>
</div>
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</div> -->
<!--/ Paper video. -->
</section>
<section class="hero">
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<div class="columns is-centered has-text-centered">
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<h2 class="title is-3">Video</h2>
<div class="publication-video">
<iframe width="560" height="315" src="https://www.youtube.com/embed/jWLI-OFp3qU?si=Ba4g6Io7ywE7wmqA" title="YouTube video player" frameborder="0" allow="accelerometer; autoplay; clipboard-write; encrypted-media; gyroscope; picture-in-picture; web-share" allowfullscreen></iframe>
</div>
</div>
</div>
</div>
</section>
<section class="hero is-small is-light">
<div class="hero-body">
<div class="columns is-centered has-text-centered">
<div class="column">
<h2 class="title is-3">ScanNet++ S2</h2>
<p></p>
</div>
</div>
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<div class="content">
<h2 class="title is-4">Online Reconstruction</h2>
<video id="s2_recon" autoplay controls muted loop playsinline height="100%">
<source src="./data/scannetpp/scannetpp_s2_recon.mp4"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
</div>
</div>
<div class="column has-text-centered">
<div class="content">
<h2 class="title is-4">3D Novel View Loop</h2>
<video id="s2_nvs" autoplay controls muted loop playsinline height="100%">
<source src="./data/scannetpp/scannetpp_s2_nvs_loop.mp4"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
</div>
</div>
</div>
</div>
</section>
<section class="hero is-small">
<div class="hero-body">
<div class="columns is-centered has-text-centered">
<div class="column">
<h2 class="title is-3">Online iPhone Reconstructions</h2>
<p></p>
</div>
</div>
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<div class="content">
<video id="iphone_recon" autoplay controls muted loop playsinline height="100%">
<source src="./data/collage.mp4"
type="video/mp4">
</video>
</div>
</div>
</div>
</div>
</section>
<section class="hero is-small is-light">
<div class="hero-body">
<div class="columns is-centered has-text-centered">
<div class="column">
<h2 class="title is-3">Replica Room 0 Novel View Renderings</h2>
<p></p>
</div>
</div>
<div class="container is-max-desktop">
<div class="columns is-centered">
<!-- <div class="column has-text-centered">
<div class="content">
<h2 class="title is-5">PS (No GT Depth)</h2>
<video id="psg_r0" autoplay controls muted loop playsinline height="100%">
<source src="./data/replica_nvs/point_slam_ngd/room0_rgb_ps.mp4"
type="video/mp4">
</video>
</div>
</div> -->
<div class="column has-text-centered">
<div class="content">
<h2 class="title is-5">Nice-SLAM</h2>
<video id="ns_r0" autoplay controls muted loop playsinline height="100%">
<source src="./data/replica_nvs/nice_slam/room0_rgb_ns.mp4"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
</div>
</div>
<div class="column has-text-centered">
<div class="content">
<h2 class="title is-5">Point-SLAM</h2>
<video id="ps_r0" autoplay controls muted loop playsinline height="100%">
<source src="./data/replica_nvs/point_slam/room0_rgb_ps.mp4"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
</div>
</div>
<div class="column has-text-centered">
<div class="content">
<h2 class="title is-5">SplaTAM</h2>
<video id="ss_r0" autoplay controls muted loop playsinline height="100%">
<source src="./data/replica_nvs/splatam/room_0_rgb.mp4"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
</div>
</div>
</div>
<div class="container is-max-desktop">
<div class="columns is-centered">
<!-- <div class="column has-text-centered">
<div class="content">
<video id="psg_r0" autoplay controls muted loop playsinline height="100%">
<source src="./data/replica_nvs/point_slam_ngd/room0_depth_ps.mp4"
type="video/mp4">
</video>
</div>
</div> -->
<div class="column has-text-centered">
<div class="content">
<video id="ns_r0" autoplay controls muted loop playsinline height="100%">
<source src="./data/replica_nvs/nice_slam/room0_depth_ns.mp4"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
</div>
</div>
<div class="column has-text-centered">
<div class="content">
<video id="ps_r0" autoplay controls muted loop playsinline height="100%">
<source src="./data/replica_nvs/point_slam/room0_depth_ps.mp4"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
</div>
</div>
<div class="column has-text-centered">
<div class="content">
<video id="ss_r0" autoplay controls muted loop playsinline height="100%">
<source src="./data/replica_nvs/splatam/room_0_depth.mp4"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
</div>
</div>
</div>
<h2 class="subtitle has-text-centered">
<span>Note: Nice-SLAM & Point-SLAM use ground truth novel view depth for rendering.</span>
</h2>
</div>
</section>
<section class="hero is-small">
<div class="hero-body">
<div class="columns is-centered has-text-centered">
<div class="column">
<h2 class="title is-3">Replica Office 1 Novel View Renderings</h2>
<p></p>
</div>
</div>
<div class="container is-max-desktop">
<div class="columns is-centered">
<!-- <div class="column has-text-centered">
<div class="content">
<h2 class="title is-5">PS (No GT Depth)</h2>
<video id="psg_r0" autoplay controls muted loop playsinline height="100%">
<source src="./data/replica_nvs/point_slam_ngd/office1_rgb_ps.mp4"
type="video/mp4">
</video>
</div>
</div> -->
<div class="column has-text-centered">
<div class="content">
<h2 class="title is-5">Nice-SLAM</h2>
<video id="ns_r0" autoplay controls muted loop playsinline height="100%">
<source src="./data/replica_nvs/nice_slam/office1_rgb_ns.mp4"
type="video/mp4">
</video>
</div>
</div>
<div class="column has-text-centered">
<div class="content">
<h2 class="title is-5">Point-SLAM</h2>
<video id="ps_r0" autoplay controls muted loop playsinline height="100%">
<source src="./data/replica_nvs/point_slam/office1_rgb_ps.mp4"
type="video/mp4">
</video>
</div>
</div>
<div class="column has-text-centered">
<div class="content">
<h2 class="title is-5">SplaTAM</h2>
<video id="ss_r0" autoplay controls muted loop playsinline height="100%">
<source src="./data/replica_nvs/splatam/office_1_rgb.mp4"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
</div>
</div>
</div>
<div class="container is-max-desktop">
<div class="columns is-centered">
<!-- <div class="column has-text-centered">
<div class="content">
<video id="psg_r0" autoplay controls muted loop playsinline height="100%">
<source src="./data/replica_nvs/point_slam_ngd/office1_depth_ps.mp4"
type="video/mp4">
</video>
</div>
</div> -->
<div class="column has-text-centered">
<div class="content">
<video id="ns_r0" autoplay controls muted loop playsinline height="100%">
<source src="./data/replica_nvs/nice_slam/office1_depth_ns.mp4"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
</div>
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<div class="column has-text-centered">
<div class="content">
<video id="ps_r0" autoplay controls muted loop playsinline height="100%">
<source src="./data/replica_nvs/point_slam/office1_depth_ps.mp4"
type="video/mp4">
</video>
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<video id="ss_r0" autoplay controls muted loop playsinline height="100%">
<source src="./data/replica_nvs/splatam/office_1_depth.mp4"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
</div>
</div>
</div>
<h2 class="subtitle has-text-centered">
<span>Note: Nice-SLAM & Point-SLAM use ground truth novel view depth for rendering.</span>
</h2>
</div>
</section>
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<h2 class="title is-3">Camera Tracking Optimization</h2>
<p></p>
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<h2 class="title is-4">ScanNet++ S1</h2>
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<source src="./data/track_opt/scannet_s1_tracking.mp4"
type="video/mp4">
</video>
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<h2 class="title is-4">ScanNet++ S2</h2>
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<source src="./data/track_opt/scannet_s2_tracking.mp4"
type="video/mp4">
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<div class="column has-text-centered">
<div class="content">
<h2 class="title is-4">Replica R0</h2>
<video id="s2_recon" autoplay controls muted loop playsinline height="100%">
<source src="./data/track_opt/replica_room0_tracking.mp4"
type="video/mp4">
</video>
<!-- <img src = "data/viz_gifs/row3_col3.gif"> -->
</div>
</div>
</div>
</div>
</section>
<section class="section" id="concurrent work">
<div class="container is-max-desktop content">
<!-- Concurrent Work. -->
<div class="columns is-centered">
<div class="column is-full-width">
<h2 class="title is-3">Concurrent work</h2>
<div class="content has-text-justified">
<p>
Given the fast pace of research these days, five concurrent SLAM papers using 3D Gaussians as the underlying representation showed up on arXiv. Surprisingly, each one had a unique way to do SLAM with 3D Gaussians.
</p>
<p>
GS-SLAM does coarse to fine camera tracking based on sparse selection of Gaussians.
</p>
<p>
Gaussian Splatting SLAM does monocular SLAM, where densification is performed using depth statistics.
</p>
<p>
Photo-SLAM couples ORB-SLAM3 based camera tracking with 3DGS based mapping.
</p>
<p>
COLMAP-Free 3DGS uses monocular depth estimation with 3DGS.
</p>
<p>
Gaussian-SLAM couples DROID-SLAM based camera tracking with active & inactive 3DGS sub-maps.
</p>
</div>
</div>
</div>
<!--/ Concurrent Work. -->
</div>
</section>
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<section class="section" id="BibTeX">
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<h2 class="title is-3">BibTeX</h2>
<pre><code>
@inproceedings{keetha2024splatam,
title={SplaTAM: Splat, Track \& Map 3D Gaussians for Dense RGB-D SLAM},
author={Keetha, Nikhil and Karhade, Jay and Jatavallabhula, Krishna Murthy and Yang, Gengshan and Scherer, Sebastian and Ramanan, Deva and Luiten, Jonathon},
booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
year={2024}
}
</code></pre>
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