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simmediumroboticsmetric · varies
Semantic Segmentation and Depth Estimation for Real-Time Lunar Surface Mapping Using 3D Gaussian Splatting
Description
Navigation and mapping on the lunar surface require robust perception under challenging conditions, including poorly textured environments, high-contrast lighting, and limited computational resources. This paper presents a real-time mapping framework that integrates dense perception models with a 3D Gaussian Splatting (3DGS) representation. We first benchmark several models on synthetic datasets generated with the LuPNT simulator, selecting a stereo dense depth estimation model based on Gated Re