SOURCE-LINKED INTELLIGENCE

Elevator-VIGS: Separating Elevator Motion from Robot Motion in Visual-Inertial Gaussian Splatting SLAM

arXiv · AI, language, vision and robotics · article · Sep 20, 2026 · UTC

We present Elevator-VIGS, a visual-inertial 3D Gaussian Splatting SLAM system that keeps tracking and mapping through elevator rides. Inside a moving elevator, the two sensors are in conflict. The camera sees only the robot's motion relative to the elevator, while the IMU senses that motion plus the elevator's motion relative to the world. This conflict is challenging for existing visual-inertial estimators. If vision dominates, the estimator tracks only the robot's motion within the elevator and misses the elevator's rise, and if the conflict remains, the estimator diverges. We observe that t

Read original source ↗ Open in workspace

recordType

paper

region

Global