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spla-tam / SplaTAM

SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM (CVPR 2024)
https://spla-tam.github.io/
BSD 3-Clause "New" or "Revised" License
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Type of Loss Function #109

Closed czeyveli1 closed 5 months ago

czeyveli1 commented 6 months ago

Can I learn what is the type of loss function that used in SplaTAM?

AlexMorgand commented 6 months ago

What do you mean by type and which one?

Disclaimer: I'm not an author of the paper.

Here are some from the paper: image

Loss including the $D$ i.e rendered depth $L1$ loss and $C$ the L1 rendered color loss.

It's optimising $E_{t+1}$

Hope it helps

Nik-V9 commented 5 months ago

Hi, we use both rendered color and depth loss where the losses are weighted using the silhouette when doing tracking.

For details regarding the loss, please refer to the paper or look at this part of the code: https://github.com/spla-tam/SplaTAM/blob/1a5d407c3a145f69691d49267411cb65e5d5c992/scripts/splatam.py#L214

These slides might also be helpful: http://tinyurl.com/splatam