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App. Res. of Comp. Accepted Paper
Vol. 42, 2025 No. 8

TIGO-SLAM algorithm for indoor environments based on 3D Gaussian Splatting

Wang Lingfeng1
Liu Hongjie1,2
Yu Ying1
1. School of Information Science & Engineering, Yunnan University, Kunming 650500, China
2. Digital Media Technology Key Laboratory of Universities & Colleges in Yunnan Province, Kunming 650223, China
DOI: 10.19734/j.issn.1001-3695.2024.11.0511

Abstract

To address the limitations of existing SLAM algorithms in rendering realism, memory consumption, and adaptability to complex scenes, a dense SLAM algorithm based on 3D Gaussians Splatting, called TIGO-SLAM (Tensor Illumination and Gaussian Optimization for Indoor SLAM) , is proposed. The algorithm integrates a neural network-based tensor lighting model, an improved Gaussian masking algorithm, and a grid neural field for geometric and color attribute representation. The key innovations include: a) a neural network-based tensor lighting model that enhances specular and diffuse reflection, thus improving rendering realism; b) an improved Gaussian masking algorithm with a redundant Gaussian elimination mechanism, which effectively reduces memory consumption and improves real-time performance; c) the combination of grid neural field for geometric and color attribute representation, using an optimized codebook storage method, significantly improving rendering performance and scene reconstruction accuracy. Experimental results show that TIGO-SLAM achieves significant improvements in indoor scene rendering, memory optimization, and adaptability to complex scenes, particularly in dynamic indoor environments, offering new possibilities for the application of SLAM technology on resource-constrained devices.

Foundation Support

国家自然科学基金资助项目(61962060)

Publish Information

DOI: 10.19734/j.issn.1001-3695.2024.11.0511
Publish at: Application Research of Computers Accepted Paper, Vol. 42, 2025 No. 8

Publish History

[2025-03-24] Accepted Paper

Cite This Article

王凌峰, 刘宏杰, 余映. 基于3D Gaussian Splatting的室内环境TIGO-SLAM算法 [J]. 计算机应用研究, 2025, 42 (8). (2025-04-17). https://doi.org/10.19734/j.issn.1001-3695.2024.11.0511. (Wang Lingfeng, Liu Hongjie, Yu Ying. TIGO-SLAM algorithm for indoor environments based on 3D Gaussian Splatting [J]. Application Research of Computers, 2025, 42 (8). (2025-04-17). https://doi.org/10.19734/j.issn.1001-3695.2024.11.0511. )

About the Journal

  • Application Research of Computers Monthly Journal
  • Journal ID ISSN 1001-3695
    CN  51-1196/TP

Application Research of Computers, founded in 1984, is an academic journal of computing technology sponsored by Sichuan Institute of Computer Sciences under the Science and Technology Department of Sichuan Province.

Aiming at the urgently needed cutting-edge technology in this discipline, Application Research of Computers reflects the mainstream technology, hot technology and the latest development trend of computer application research at home and abroad in a timely manner. The main contents of the journal include high-level academic papers in this discipline, the latest scientific research results and major application results. The contents of the columns involve new theories of computer discipline, basic computer theory, algorithm theory research, algorithm design and analysis, blockchain technology, system software and software engineering technology, pattern recognition and artificial intelligence, architecture, advanced computing, parallel processing, database technology, computer network and communication technology, information security technology, computer image graphics and its latest hot application technology.

Application Research of Computers has many high-level readers and authors, and its readers are mainly senior and middle-level researchers and engineers engaged in the field of computer science, as well as teachers and students majoring in computer science and related majors in colleges and universities. Over the years, the total citation frequency and Web download rate of Application Research of Computers have been ranked among the top of similar academic journals in this discipline, and the academic papers published are highly popular among the readers for their novelty, academics, foresight, orientation and practicality.

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