3D Gaussian Splatting aided Localization for Large and Complex Indoor-Environments

The field of visual localization has been researched for several decades and has meanwhile found many practical applications. Despite the strong progress in this field, there are still challenging situations in which established methods fail. We present an approach to significantly improve the accuracy and reliability of established visual localization methods by adding rendered images. In detail, we first use a modern visual SLAM approach that provides a 3D Gaussian Splatting (3DGS) based map to create reference data. We demonstrate that enriching reference data with images rendered from 3DGS at randomly sampled poses significantly improves the performance of both geometry-based visual localization and Scene Coordinate Regression (SCR) methods. Through comprehensive evaluation in a large industrial environment, we analyze the performance impact of incorporating these additional rendered views.

SLAM for Indoor Mapping of Wide Area Construction Environments

Simultaneous localization and mapping (SLAM), i.e., the reconstruction of the environment represented by a (3D) map and the concurrent pose estimation, has made astonishing progress. Meanwhile, large scale applications aiming at the data collection in complex environments like factory halls or construction sites are becoming feasible. However, in contrast to small scale scenarios with building interiors separated to single rooms, shop floors or construction areas require measures at larger distances in potentially texture less areas under difficult illumination. Pose estimation is further aggravated since no GNSS measures are available as it is usual for such indoor applications. In our work, we realize data collection in a large factory hall by a robot system equipped with four stereo cameras as well as a 3D laser scanner. We apply our state-of-the-art LiDAR and visual SLAM approaches and discuss the respective pros and cons of the different sensor types for trajectory estimation and dense map generation in such an environment. Additionally, dense and accurate depth maps are generated by 3D Gaussian splatting, which we plan to use in the context of our project aiming on the automatic construction and site monitoring.

Efficient and Accurate Tree Detection from 3D Point Clouds through Paid Crowdsourcing

Accurate tree detection is of growing importance in applications such as urban planning, forest inventory, and environmental monitoring. In this article, we present an approach to creating tree maps by annotating them in 3D point clouds. Point cloud representations allow the precise identification of tree positions, particularly stem locations, and their heights. Our method leverages human computational power through paid crowdsourcing, employing a web tool designed to enable even non-experts to effectively tackle the task. The primary focus of this paper is to discuss the web tool's development and strategies to ensure high-quality tree annotations despite encountering noise in the crowdsourced data. Following our methodology, we achieve quality measures surpassing 90% for various challenging test sets of diverse complexities. We emphasize that our tree map creation process, including initial point cloud collection, can be completed within 1-2 days.