# A ROS-Based Online System for 3D Gaussian Splatting Optimization: Flexible Frontend Integration and Real-Time Refinement

## TL;DR

This paper introduces a real-time 3D scene reconstruction system using ROS and Gaussian splatting, improving speed and quality over traditional methods.

## Contribution

A ROS-based online system for 3D Gaussian splatting with flexible frontend integration and real-time refinement is proposed.

## Key findings

- The system reduces initialization time by 90% compared to traditional COLMAP-3DGS methods.
- It achieves an average PSNR improvement of 1.9 dB on multiple datasets.
- The system uses a dynamic sliding-window strategy and a novel loss function for optimization.

## Abstract

The 3D Gaussian splatting technique demonstrates significant efficiency advantages in real-time scene reconstruction. However, when its initialization process relies on traditional SfM methods (such as COLMAP), there are obvious bottlenecks, such as high computational resource consumption, as well as the decoupling problem between camera pose optimization and map construction. This paper proposes an online 3DGS optimization system based on ROS. Through the design of a loose-coupling architecture, it realizes real-time data interaction between the frontend SfM/SLAM module and backend 3DGS optimization. Using ROS as a middleware, this system can access the keyframe poses and point-cloud data generated by any frontend algorithms (such as ORB-SLAM, COLMAP, etc.). With the help of a dynamic sliding-window strategy and a rendering-quality loss function that combines L1 and SSIM, it achieves online optimization of the 3DGS map. The experimental data shows that compared with the traditional COLMAP-3DGS process, this system reduces the initialization time by 90% and achieves an average PSNR improvement of 1.9 dB on the TUM-RGBD, Tanks and Temples, and KITTI datasets.