Abstract
Dense 3D representations of the environment have been a long-term goal in the robotics field.
While previous NeRF representation have been prevalent for its implicit, coordinate-based model, the recent emergence of 3DGS has demonstrated remarkable potential in its explicit radiance field representation.
By leveraging 3D Gaussian primitives for explicit scene representation and enabling differentiable rendering, 3DGS has shown significant advantages over other radiance fields in real-time rendering and photo-realistic performance, which is beneficial for robotic applications.
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