Left: "HKU Landmark" sequence, Right: "HKUST Red Sculpture" sequence
"Mining Tunnel" sequence (severe LiDAR and camera degeneration)
"HKisland01" sequence
"HKairport01" Sequence (LiDAR degeneration)
4.2 Mesh and texture reconstruction based on our dense colored point clouds
(a) and (b) are the mesh and texture mapping of “CBD
Building 01”, respectively. (c) is the texture mapping of “Retail
Street”, with (c1) and (c2) showing local details.
4.3 Gaussian Splatting based on our dense colored point clouds
Comparison of ground-truth image, COLMAP+3DGS, and FAST-LIVO2+3DGS in terms of render details, computational time (time for generating point clouds and estimating poses + training time), and PSNR for a random frame in “CBD
Building 01”.