Gaussian-LIC2: LiDAR-Inertial-Camera Gaussian Splatting SLAM

This paper presents Gaussian-LIC2, a photo-realistic LiDAR-Inertial-Camera Gaussian Splatting SLAM system that simultaneously addresses visual quality, geometric accuracy, and real-time performance. The system incrementally reconstructs a large-scale 3D Gaussian map using camera and LiDAR data, enabling high-quality novel view rendering. It employs a lightweight zero-shot depth model to address under-reconstruction in LiDAR-blind areas and uses sparse LiDAR data to supervise Gaussian map optimization. The system also improves odometry robustness through photometric constraints in a continuous-time factor graph optimization framework.