基于多传感器融合的三维高斯泼溅技术

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中图分类号：TN911.73-34；TP242 文献标识码：A 文章编号：1004-373X（2025）17-0093-05

引用格式：,.基于多传感器融合的三维高斯泼溅技术[J].现代电子技术,2025,48(17)：93-97.

3DGaussian splatting technology based on multi-sensor fusion

LI Yongchang, LI Wei (Schoolof MechanicalandElectrical Engineering,China JiliangUniversity,Hangzhou31oo18,China)

Abstract：Tomeet thedemandof buildinghigh-quality3Dmodelsforintellgentmobilerobots,a3DGausiansplatting (3DGS)optimizationalgorithmbasedonmulti-sensorfusionisproposedbasedon3DGaussiansplattingreconstruction technology.ThedatasetcontainingLiDAR,cameraandIMUinformationisrecordedintherealscene.The3DGausian distributionisinitializedbytheoptimizedodometerposeandthecamerafeaturepointscalibratedbythelaserpointcloud.On thebasisoftakingaccountofthegeometricinformationoftepointcloud,thelossfunctionisimprovedfortheparameterodel optimization.The3DGSoptimizationalgorithmbasedonmulti-sensorfusionandtheoriginal methodweresubjectedto reconstructionexperimentsunderdiferentdatasets．Thereconstructedresultswerecomparedintworealscenarios.The experimentalresultsshowthatthepeak signal-to-noiseratio(SNR)ofthe3DGausiansplattingoptimizationalgorihmbasedon multi-sensor fusion isimproved by 3.5% and 3% in weak texture environment and general texture environment respectively,in comparisonwiththe3DGSreconstructionmethod.Anditsstructural similarity(SSIM)andlearnedperceptualimagepatch similarity(LPIPS)alsoperformwell.Itcanbeseenthatthequalityof thereconstructedmodelhasbeenimprovedand the effectiveness of the proposed algorithm has been validated.

Keywords：inteligentrobot;point cloud;3Dreconstruction;reconstructionaccuracy；3DGS;simultaneous localizationand mapping

0 引言

在现代机器人和自动驾驶技术中，SLAM（Simulta-neousLocalizationandMapping，即时定位与地图构建）系统扮演着至关重要的角色。（剩余11916字）