Differential Gaussian Rasterization with Camera Velocity and Pose Jacobians

This software is used as the rasterization engine in the ICRA25 paper "GS-EVT: Cross-Modal Event Camera Tracking based on Gaussian Splatting", and supports:

• Analytical gradient for camera velocity.
• Analytical gradient for camera poses.
• Analytical gradient for rendered depth.

The code is built on top of the original diff-gaussian-rasterization-w-pose used in "Gaussian Splatting SLAM".

If you can make use of it in your own research, please be so kind to cite both papers.

BibTeX

@article{liu2024gs,
  title={GS-EVT: Cross-Modal Event Camera Tracking based on Gaussian Splatting},
  author={Liu, Tao and Yuan, Runze and Ju, Yi'ang and Xu, Xun and Yang, Jiaqi and Meng, Xiangting and Lagorce, Xavier and Kneip, Laurent},
  journal={arXiv preprint arXiv:2409.19228},
  year={2024}
}

@inproceedings{Matsuki:Murai:etal:CVPR2024,
  title={{G}aussian {S}platting {SLAM}},
  author={Hidenobu Matsuki and Riku Murai and Paul H. J. Kelly and Andrew J. Davison},
  booktitle={Proceedings of the IEEE/CVF Conference on Computer Vision and Pattern Recognition},
  year={2024}
}