نسخة أولية وصول مفتوح
Elevator-VIGS: Separating Elevator Motion from Robot Motion in Visual-Inertial Gaussian Splatting SLAM
We present Elevator-VIGS, a visual-inertial 3D Gaussian Splatting SLAM system that keeps tracking and mapping through elevator rides. Inside a moving elevator, the two sensors are in conflict. The camera sees only the robot's motion relative to the elevator, while the IMU senses that motion plus the elevator's motion r …