Related papers: TivNe-SLAM: Dynamic Mapping and Tracking via Time-…
Neural networks can represent and accurately reconstruct radiance fields for static 3D scenes (e.g., NeRF). Several works extend these to dynamic scenes captured with monocular video, with promising performance. However, the monocular…
Current Simultaneous Localization and Mapping (SLAM) methods based on Neural Radiance Fields (NeRF) or 3D Gaussian Splatting excel in reconstructing static 3D scenes but struggle with tracking and reconstruction in dynamic environments,…
We introduce EC-SLAM, a real-time dense RGB-D simultaneous localization and mapping (SLAM) system leveraging Neural Radiance Fields (NeRF). While recent NeRF-based SLAM systems have shown promising results, they have yet to fully exploit…
Neural radiance fields (NeRF) have shown great success in modeling 3D scenes and synthesizing novel-view images. However, most previous NeRF methods take much time to optimize one single scene. Explicit data structures, e.g. voxel features,…
We propose a novel visual re-localization method based on direct matching between the implicit 3D descriptors and the 2D image with transformer. A conditional neural radiance field(NeRF) is chosen as the 3D scene representation in our…
Neural implicit representations have been explored to enhance visual SLAM algorithms, especially in providing high-fidelity dense map. Existing methods operate robustly in static scenes but struggle with the disruption caused by moving…
Neural implicit representations have recently shown promising progress in dense Simultaneous Localization And Mapping (SLAM). However, existing works have shortcomings in terms of reconstruction quality and real-time performance, mainly due…
The majority of approaches for acquiring dense 3D environment maps with RGB-D cameras assumes static environments or rejects moving objects as outliers. The representation and tracking of moving objects, however, has significant potential…
We introduce a high-fidelity neural implicit dense visual Simultaneous Localization and Mapping (SLAM) system, termed DF-SLAM. In our work, we employ dictionary factors for scene representation, encoding the geometry and appearance…
The integration of neural rendering and the SLAM system recently showed promising results in joint localization and photorealistic view reconstruction. However, existing methods, fully relying on implicit representations, are so…
Online reconstructing and rendering of large-scale indoor scenes is a long-standing challenge. SLAM-based methods can reconstruct 3D scene geometry progressively in real time but can not render photorealistic results. While NeRF-based…
The static world assumption is standard in most simultaneous localisation and mapping (SLAM) algorithms. Increased deployment of autonomous systems to unstructured dynamic environments is driving a need to identify moving objects and…
In recent decades, visual simultaneous localization and mapping (vSLAM) has gained significant interest in both academia and industry. It estimates camera motion and reconstructs the environment concurrently using visual sensors on a moving…
Accurate estimation of the environment structure simultaneously with the robot pose is a key capability of autonomous robotic vehicles. Classical simultaneous localization and mapping (SLAM) algorithms rely on the static world assumption to…
We propose a novel dense mapping framework for sparse visual SLAM systems which leverages a compact scene representation. State-of-the-art sparse visual SLAM systems provide accurate and reliable estimates of the camera trajectory and…
The real-world deployment of fully autonomous mobile robots depends on a robust SLAM (Simultaneous Localization and Mapping) system, capable of handling dynamic environments, where objects are moving in front of the robot, and changing…
Structure from Motion (SfM) techniques are being increasingly used to create 3D maps from images in many domains including environmental monitoring. However, SfM techniques are often confounded in visually repetitive environments as they…
Reasoning the 3D structure of a non-rigid dynamic scene from a single moving camera is an under-constrained problem. Inspired by the remarkable progress of neural radiance fields (NeRFs) in photo-realistic novel view synthesis of static…
Recent advancements in 4D scene reconstruction using neural radiance fields (NeRF) have demonstrated the ability to represent dynamic scenes from multi-view videos. However, they fail to reconstruct the dynamic scenes and struggle to fit…
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…