MonoGS
MonoGS is a dense Simultaneous Localization and Mapping system highlighted at CVPR 2024 that pioneers the use of 3D Gaussian Splatting for SLAM. It operates as the first monocular SLAM solution entirely based on Gaussian Splatting, while also supporting Stereo and RGB-D sensor inputs to create high-quality, radiance-consistent 3D reconstructions. The software enables real-time camera tracking and scene mapping, producing visually stunning results with accurate geometry. It features a graphical user interface for visualization and includes optimized code paths achieving up to 10 frames per second on modern hardware. MonoGS is designed for researchers and developers needing robust 3D mapping capabilities from single-camera, RGB-D, or stereo video streams. It supports various benchmark datasets including TUM-RGBD, Replica, and EuRoC MAV, and includes configurations for live operation with Intel RealSense depth cameras. The system relies on PyTorch and CUDA for acceleration, requiring a compatible Linux environme