ilessio-aiflowlab/project_freya

FREYA — Gaussian-LIC2 SLAM (ANIMA Module)

Part of the ANIMA Perception Suite by Robot Flow Labs.

Paper

Gaussian-LIC2: LiDAR-Inertial-Camera Gaussian Splatting SLAM (arXiv:2507.04004)

Xiaolei Lang, Jiajun Lv, Kai Tang, Laijian Li, Jianxin Huang, Lina Liu, Yong Liu, Xingxing Zuo

Architecture

Tightly-coupled LiDAR+Inertial+Camera Gaussian Splatting SLAM:

• Continuous-time B-spline SE(3) trajectory optimization
• Incremental 3D Gaussian map with SH lighting (degree 3)
• Zero-shot depth completion for LiDAR-blind areas
• CUDA-accelerated tile-based rendering
• Per-scene optimization (not batch training)

Exported Formats

Format	File	Use Case
PyTorch (.pth)	pytorch/freya_v1.pth	Training, fine-tuning
SafeTensors	pytorch/freya_v1.safetensors	Fast loading, safe
ONNX	onnx/freya_depth_v1.onnx	Cross-platform depth inference
TensorRT FP16	tensorrt/freya_depth_v1_fp16.engine	Edge deployment (Jetson/L4)
TensorRT FP32	tensorrt/freya_depth_v1_fp32.engine	Full precision inference
Checkpoint	checkpoints/best.pth	Resume SLAM optimization
Config	configs/training.toml	Reproducibility
Logs	logs/training_history.json	Loss curves, metrics

Training Details

Parameter	Value
Hardware	NVIDIA L4 (23GB VRAM)
Dataset	TUM VI Benchmark (room1, 2821 frames)
Gaussians	12.2M pre-allocated, 500K active
Optimizer	Adam (per-param, foreach=False)
Mixed Precision	bf16
Best Loss	0.0010
VRAM Usage	17.8GB (77%)

Usage

import torch

state = torch.load("pytorch/freya_v1.pth", weights_only=False)
gaussian_map = state["gaussian_map"]
trajectory = state["trajectory"]

# SafeTensors
from safetensors.torch import load_file
tensors = load_file("pytorch/freya_v1.safetensors")

Citation

@article{lang2025gaussianlic2,
  title={Gaussian-LIC2: LiDAR-Inertial-Camera Gaussian Splatting SLAM},
  author={Lang, Xiaolei and Lv, Jiajun and Tang, Kai and Li, Laijian and Huang, Jianxin and Liu, Lina and Liu, Yong and Zuo, Xingxing},
  year={2025},
  journal={arXiv preprint arXiv:2507.04004}
}

License

Apache 2.0 — Robot Flow Labs / AIFLOW LABS LIMITED