Feature Enhancement of TUM-RGBD Depth Images and Performance Evaluation of Gaussian Splatting-Based SplaTAM Method

Cemil Zeyveli; Ali Furkan Kamanlı

doi:10.35377/saucis...1637290

EN

Feature Enhancement of TUM-RGBD Depth Images and Performance Evaluation of Gaussian Splatting-Based SplaTAM Method

Abstract

Simultaneous Localization and Mapping (SLAM) methods are used in autonomous systems to determine their locations in unknown environments and map these environments. Autonomous systems need to act autonomously without external intervention. These methods are widely used in robotics and AR/VR applications. Gaussian Splatting SLAM is a Visual SLAM method that performs mapping and localization using depth and RGB images and uses Gaussian structures for scene representation. Popular datasets such as TUM-RGBD, Replica, and Scannet++ are used in the performance evaluation and testing of the visual SLAM methods. However, the depth images in the TUM-RGBD dataset are of lower quality than other datasets. This problem negatively affects the depth data's accuracy and reduces the quality of mapping results. In this study, to increase the quality of depth images, the features of depth images were corrected using the median filter, which is the depth smoothing method, and a cleaner depth dataset was obtained. The new dataset obtained was processed using the Gaussian Splatting SLAM method, and better metric results (PSNR, SSIM, and LPIPS) were obtained compared to the original dataset. As a result, in the dataset with corrected features, an improvement of 8.08% in the first scene and 4.69% in the second scene was achieved according to metric values compared to the original dataset.

Keywords

Ethical Statement

It is declared that during the preparation process of this study, scientific and ethical principles were followed, and all the studies benefited from are stated in the bibliography.

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Details

Primary Language

English

Subjects

Software Engineering (Other)

Journal Section

Research Article

Authors

Cemil Zeyveli ^*
0009-0000-8316-450X
Türkiye

Ali Furkan Kamanlı
0000-0002-4155-5956
Türkiye

Early Pub Date

June 16, 2025

Publication Date

June 30, 2025

Submission Date

February 11, 2025

Acceptance Date

June 5, 2025

Published in Issue

Year 2025 Volume: 8 Number: 2

DOI

https://doi.org/10.35377/saucis...1637290

IZ

https://izlik.org/JA69FP82FY

Cite

RIS / Bibtex

APA

Zeyveli, C., & Kamanlı, A. F. (2025). Feature Enhancement of TUM-RGBD Depth Images and Performance Evaluation of Gaussian Splatting-Based SplaTAM Method. Sakarya University Journal of Computer and Information Sciences, 8(2), 260-272. https://doi.org/10.35377/saucis...1637290

AMA

1.Zeyveli C, Kamanlı AF. Feature Enhancement of TUM-RGBD Depth Images and Performance Evaluation of Gaussian Splatting-Based SplaTAM Method. SAUCIS. 2025;8(2):260-272. doi:10.35377/saucis.1637290

Chicago

Zeyveli, Cemil, and Ali Furkan Kamanlı. 2025. “Feature Enhancement of TUM-RGBD Depth Images and Performance Evaluation of Gaussian Splatting-Based SplaTAM Method”. Sakarya University Journal of Computer and Information Sciences 8 (2): 260-72. https://doi.org/10.35377/saucis. 1637290.

EndNote

Zeyveli C, Kamanlı AF (June 1, 2025) Feature Enhancement of TUM-RGBD Depth Images and Performance Evaluation of Gaussian Splatting-Based SplaTAM Method. Sakarya University Journal of Computer and Information Sciences 8 2 260–272.

IEEE

[1]C. Zeyveli and A. F. Kamanlı, “Feature Enhancement of TUM-RGBD Depth Images and Performance Evaluation of Gaussian Splatting-Based SplaTAM Method”, SAUCIS, vol. 8, no. 2, pp. 260–272, June 2025, doi: 10.35377/saucis...1637290.

ISNAD

Zeyveli, Cemil - Kamanlı, Ali Furkan. “Feature Enhancement of TUM-RGBD Depth Images and Performance Evaluation of Gaussian Splatting-Based SplaTAM Method”. Sakarya University Journal of Computer and Information Sciences 8/2 (June 1, 2025): 260-272. https://doi.org/10.35377/saucis. 1637290.

JAMA

1.Zeyveli C, Kamanlı AF. Feature Enhancement of TUM-RGBD Depth Images and Performance Evaluation of Gaussian Splatting-Based SplaTAM Method. SAUCIS. 2025;8:260–272.

MLA

Zeyveli, Cemil, and Ali Furkan Kamanlı. “Feature Enhancement of TUM-RGBD Depth Images and Performance Evaluation of Gaussian Splatting-Based SplaTAM Method”. Sakarya University Journal of Computer and Information Sciences, vol. 8, no. 2, June 2025, pp. 260-72, doi:10.35377/saucis. 1637290.

Vancouver

1.Cemil Zeyveli, Ali Furkan Kamanlı. Feature Enhancement of TUM-RGBD Depth Images and Performance Evaluation of Gaussian Splatting-Based SplaTAM Method. SAUCIS. 2025 Jun. 1;8(2):260-72. doi:10.35377/saucis. 1637290

Öz

Feature Enhancement of TUM-RGBD Depth Images and Performance Evaluation of Gaussian Splatting-Based SplaTAM Method

Abstract

Keywords

Ethical Statement

References

Details

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Subjects

Journal Section

Authors

Early Pub Date

Publication Date

Submission Date

Acceptance Date

Published in Issue

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IZ

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