WildfireX-SLAM: A Large-scale Low-altitude RGB-D Dataset for Wildfire SLAM and Beyond

3D Gaussian splatting (3DGS) and its subsequent variants have led to remarkable progress in simultaneous localization and mapping (SLAM). While most recent 3DGS-based SLAM works focus on small-scale indoor scenes, developing 3DGS-based SLAM methods for large-scale forest scenes holds great potential for many real-world applications, especially for wildfire emergency response and forest management. However, this line of research is impeded by the absence of a comprehensive and high-quality dataset, and collecting such a dataset over real-world scenes is costly and technically infeasible. To this end, we have built a large-scale, comprehensive, and high-quality synthetic dataset for SLAM in wildfire and forest environments. Leveraging the Unreal Engine 5 Electric Dreams Environment Sample Project, we developed a pipeline to easily collect aerial and ground views, including ground-truth camera poses and a range of additional data modalities from unmanned aerial vehicle. Our pipeline also provides flexible controls on environmental factors such as light, weather, and types and conditions of wildfire, supporting the need for various tasks covering forest mapping, wildfire emergency response, and beyond. The resulting pilot dataset, WildfireX-SLAM, contains 5.5k low-altitude RGB-D aerial images from a large-scale forest map with a total size of 16 km2. On top of WildfireX-SLAM, a thorough benchmark is also conducted, which not only reveals the unique challenges of 3DGS-based SLAM in the forest but also highlights potential improvements for future works. The dataset and code will be publicly available. Project page: https://zhicongsun.github.io/wildfirexslam.

Embracing Dynamics: Dynamics-aware 4D Gaussian Splatting SLAM

Simultaneous localization and mapping (SLAM) technology now has photorealistic mapping capabilities thanks to the real-time high-fidelity rendering capability of 3D Gaussian splatting (3DGS). However, due to the static representation of scenes, current 3DGS-based SLAM encounters issues with pose drift and failure to reconstruct accurate maps in dynamic environments. To address this problem, we present D4DGS-SLAM, the first SLAM method based on 4DGS map representation for dynamic environments. By incorporating the temporal dimension into scene representation, D4DGS-SLAM enables high-quality reconstruction of dynamic scenes. Utilizing the dynamics-aware InfoModule, we can obtain the dynamics, visibility, and reliability of scene points, and filter stable static points for tracking accordingly. When optimizing Gaussian points, we apply different isotropic regularization terms to Gaussians with varying dynamic characteristics. Experimental results on real-world dynamic scene datasets demonstrate that our method outperforms state-of-the-art approaches in both camera pose tracking and map quality.