相关论文: Towards Open World NeRF-Based SLAM

Determining the position and orientation of a sensor vis-a-vis its surrounding, while simultaneously mapping the environment around that sensor or simultaneous localization and mapping is quickly becoming an important advancement in…

Simultaneous Localization and Mapping (SLAM) is considered to be a fundamental capability for intelligent mobile robots. Over the past decades, many impressed SLAM systems have been developed and achieved good performance under certain…

We use neural radiance fields (NeRFs) to build interactive 3D environments from large-scale visual captures spanning buildings or even multiple city blocks collected primarily from drones. In contrast to single object scenes (on which NeRFs…

Neural Radiance Fields (NeRF) achieve impressive view synthesis results for a variety of capture settings, including 360 capture of bounded scenes and forward-facing capture of bounded and unbounded scenes. NeRF fits multi-layer perceptrons…

Achieving efficient and consistent localization a prior map remains challenging in robotics. Conventional keyframe-based approaches often suffers from sub-optimal viewpoints due to limited field of view (FOV) and/or constrained motion, thus…

In this work, we propose the use of Neural Radiance Fields (NeRF) as a scene representation for visual localization. Recently, NeRF has been employed to enhance pose regression and scene coordinate regression models by augmenting the…

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 quality of three-dimensional reconstruction is a key factor affecting the effectiveness of its application in areas such as virtual reality (VR) and augmented reality (AR) technologies. Neural Radiance Fields (NeRF) can generate…

Neural Radiance Field (NeRF) and its variants have recently emerged as successful methods for novel view synthesis and 3D scene reconstruction. However, most current NeRF models either achieve high accuracy using large model sizes, or…

Simultaneous Localization and Mapping (SLAM) is an essential component of autonomous robotic applications and self-driving vehicles, enabling them to understand and operate in their environment. Many SLAM systems have been proposed in the…

Autonomous exploration in unknown environments remains a fundamental challenge in robotics, particularly for applications such as search and rescue, industrial inspection, and planetary exploration. Multi-robot active SLAM presents a…

We have recently seen tremendous progress in neural rendering (NR) advances, i.e., NeRF, for photo-real free-view synthesis. Yet, as a local technique based on a single computer/GPU, even the best-engineered Instant-NGP or i-NGP cannot…

Neural field-based 3D representations have recently been adopted in many areas including SLAM systems. Current neural SLAM or online mapping systems lead to impressive results in the presence of simple captures, but they rely on a…

Neural Radiance Fields (NeRFs) have remodeled 3D scene representation since release. NeRFs can effectively reconstruct complex 3D scenes from 2D images, advancing different fields and applications such as scene understanding, 3D content…

It is desirable to create 3D object models and 3D maps from 2D input images for applications such as navigation, virtual tourism, and urban planning. The traditional methods of creating 3D maps, (such as photogrammetry), require a large…

We introduce MUTE-SLAM, a real-time neural RGB-D SLAM system employing multiple tri-plane hash-encodings for efficient scene representation. MUTE-SLAM effectively tracks camera positions and incrementally builds a scalable multi-map…

In advanced mission concepts with high levels of autonomy, spacecraft need to internally model the pose and shape of nearby orbiting objects. Recent works in neural scene representations show promising results for inferring generic…

In search and rescue missions, time is an important factor; fast navigation and quickly acquiring situation awareness might be matters of life and death. Hence, the use of robots in such scenarios has been restricted by the time needed to…

Neural Radiance Fields (NeRF) have shown remarkable performance in neural rendering-based novel view synthesis. However, NeRF suffers from severe visual quality degradation when the input images have been captured under imperfect…

The success of neural fields for 3D vision tasks is now indisputable. Following this trend, several methods aiming for visual localization (e.g., SLAM) have been proposed to estimate distance or density fields using neural fields. However,…