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

arXiv:2609.23491 · cs.RO · Submitted 2026-09-20 · Read on arXiv

cs.RO

Submitted: 2026-09-20

Updated: 2026-09-20

Code: https://github.com/MichaelGrupp/evo

Project page: https://ruizhou-cn.github.io/elevator-vigs

Terminology

• Benchmark — 21× in this paper · explained in 2 episodes
• Gaussian Splatting — 11× in this paper · explained in 4 episodes
• Calibration — 9× in this paper · explained in 7 episodes
• Accuracy — 8× in this paper · explained in 1 episode
• Optical Flow — 6× in this paper · explained in 2 episodes
• Computer Vision and Pattern Recognition — 5× in this paper
• Ablation — 4× in this paper · explained in 1 episode
• Alignment — 4× in this paper · explained in 1 episode
• 3D Gaussian Splatting — 3× in this paper · explained in 2 episodes
• Degeneracy — 2× in this paper · explained in 3 episodes
• Benchmarking — 1× in this paper · explained in 4 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Core — 1× in this paper · explained in 2 episodes
• Cosine Similarity — 1× in this paper · explained in 3 episodes
• Generative AI — 1× in this paper · explained in 2 episodes
• Indoor Positioning and Indoor Navigation — 1× in this paper
• Point Clouds — 1× in this paper · explained in 2 episodes
• Semantic Understanding — 1× in this paper · explained in 2 episodes
• Synthetic Data Generation — 1× in this paper · explained in 5 episodes

Sources

• MuNES: Multifloor Navigation Including Elevators and Stairs
• Ultra-Fusion: A Resilient Tightly-Coupled Multi-Sensor Fusion SLAM Framework under Sensor Degradation and Spatiotemporal Perturbation for Intelligent Transportation Systems
• SigLIP 2: Multilingual Vision-Language Encoders with Improved Semantic Understanding, Localization, and Dense Features
• Elevator-LIO: Robust LiDAR-Inertial Odometry for Multi-Floor Navigation under Elevator-Induced Non-Inertial Motion

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