We present a real-time LiDAR-Inertial-Camera SLAM system with 3D Gaussian Splatting as the mapping backend. Leveraging robust pose estimates from our LiDAR-Inertial-Camera odometry, Coco-LIC, an incremental photo-realistic mapping system is proposed in this paper. We initialize 3D Gaussians from colorized LiDAR points and optimize them using differentiable rendering powered by 3D Gaussian Splatting. Meticulously designed strategies are employed to incrementally expand the Gaussian map and adaptively control its density, ensuring high-quality mapping with real-time capability. Experiments conducted in diverse scenarios demonstrate the superior performance of our method compared to existing radiance-field-based SLAM systems.

翻译：本文提出一种以3D高斯泼溅为建图后端的实时激光-惯性-相机SLAM系统。本文设计了一个名为Coco-LIC的增量式逼真建图系统，其利用激光-惯性-相机里程计提供的鲁棒位姿估计实现。该系统从着色激光点初始化3D高斯，并通过3D高斯泼溅的可微分渲染进行优化。我们采用精心设计的策略，增量式扩展高斯地图并自适应控制其密度，以确保高质量建图兼具实时性。在多种场景中的实验表明，与现有基于辐射场的SLAM系统相比，本方法展现出更优越的性能。