Related papers: Dense RGB SLAM with Neural Implicit Maps

Recently neural radiance fields (NeRF) have been widely exploited as 3D representations for dense simultaneous localization and mapping (SLAM). Despite their notable successes in surface modeling and novel view synthesis, existing…

In the gastrointestinal (GI) tract endoscopy field, ingestible wireless capsule endoscopy is considered as a minimally invasive novel diagnostic technology to inspect the entire GI tract and to diagnose various diseases and pathologies.…

Implicit neural SLAM has achieved remarkable progress recently. Nevertheless, existing methods face significant challenges in non-ideal scenarios, such as motion blur or lighting variation, which often leads to issues like convergence…

Recently, the multi-modal fusion of RGB, depth, and semantics has shown great potential in dense Simultaneous Localization and Mapping (SLAM). However, a prerequisite for generating consistent semantic maps is the availability of dense,…

Neural implicit fields have recently emerged as a powerful representation method for multi-view surface reconstruction due to their simplicity and state-of-the-art performance. However, reconstructing thin structures of indoor scenes while…

Simultaneous Localization and Mapping (SLAM) have made the real-time dense reconstruction possible increasing the prospects of navigation, tracking, and augmented reality problems. Some breakthroughs have been achieved in this regard during…

We present SLAIM - Simultaneous Localization and Implicit Mapping. We propose a novel coarse-to-fine tracking model tailored for Neural Radiance Field SLAM (NeRF-SLAM) to achieve state-of-the-art tracking performance. Notably, existing…

This work presents a novel dense RGB-D SLAM approach for dynamic planar environments that enables simultaneous multi-object tracking, camera localisation and background reconstruction. Previous dynamic SLAM methods either rely on semantic…

Simultaneous Localization and Mapping (SLAM) plays an important role in many robotics fields, including social robots. Many of the available visual SLAM methods are based on the assumption of a static world and struggle in dynamic…

In this paper, we introduce FMapping, an efficient neural field mapping framework that facilitates the continuous estimation of a colorized point cloud map in real-time dense RGB SLAM. To achieve this challenging goal without depth, a…

We propose a novel end-to-end RGB-D SLAM, iDF-SLAM, which adopts a feature-based deep neural tracker as the front-end and a NeRF-style neural implicit mapper as the back-end. The neural implicit mapper is trained on-the-fly, while though…

In this paper, we present a novel method for integrating 3D LiDAR depth measurements into the existing ORB-SLAM3 by building upon the RGB-D mode. We propose and compare two methods of depth map generation: conventional computer vision…

The bundle of geometry and appearance in computer vision has proven to be a promising solution for robots across a wide variety of applications. Stereo cameras and RGB-D sensors are widely used to realise fast 3D reconstruction and…

Recently the dense Simultaneous Localization and Mapping (SLAM) based on neural implicit representation has shown impressive progress in hole filling and high-fidelity mapping. Nevertheless, existing methods either heavily rely on known…

We present SGS-SLAM, the first semantic visual SLAM system based on Gaussian Splatting. It incorporates appearance, geometry, and semantic features through multi-channel optimization, addressing the oversmoothing limitations of neural…

Most of the existing visual SLAM methods heavily rely on a static world assumption and easily fail in dynamic environments. Some recent works eliminate the influence of dynamic objects by introducing deep learning-based semantic information…

Implicit representations are widely used for object reconstruction due to their efficiency and flexibility. In 2021, a novel structure named neural implicit map has been invented for incremental reconstruction. A neural implicit map…

We propose NEDS-SLAM, a dense semantic SLAM system based on 3D Gaussian representation, that enables robust 3D semantic mapping, accurate camera tracking, and high-quality rendering in real-time. In the system, we propose a Spatially…

In an effort to increase the capabilities of SLAM systems and produce object-level representations, the community increasingly investigates the imposition of higher-level priors into the estimation process. One such example is given by…

High-quality reconstruction is crucial for dense SLAM. Recent popular approaches utilize 3D Gaussian Splatting (3D GS) techniques for RGB, depth, and semantic reconstruction of scenes. However, these methods often overlook issues of detail…