相关论文: Towards Open World NeRF-Based SLAM

Sensing is an integral part of 6G and beyond systems, providing exceptional environmental perception along with communication. Radio frequency (RF)-based sensing often relies on simplified geometric assumptions (e.g., point scatterers or…

Neural radiance fields (NeRFs) produce state-of-the-art view synthesis results. However, they are slow to render, requiring hundreds of network evaluations per pixel to approximate a volume rendering integral. Baking NeRFs into explicit…

Visual-inertial simultaneous localization and mapping (SLAM) is a key module of robotics and low-speed autonomous vehicles, which is usually limited by the high computation burden for practical applications. To this end, an innovative…

Neural Radiance Fields (NeRF) has been wildly applied to various tasks for its high-quality representation of 3D scenes. It takes long per-scene training time and per-image testing time. In this paper, we present EfficientNeRF as an…

SLAM (Simultaneous Localisation and Mapping) is a crucial component for robotic systems, providing a map of an environment, the current location and previous trajectory of a robot. While 3D LiDAR SLAM has received notable improvements in…

We propose a novel visual localization and navigation framework for real-world environments directly integrating observed visual information into the bird-eye-view map. While the renderable neural radiance map (RNR-Map) shows considerable…

LiDAR-based SLAM is a core technology for autonomous vehicles and robots. One key contribution of this work to 3D LiDAR SLAM and localization is a fierce defense of view-based maps (pose graphs with time-stamped sensor readings) as the…

Neural Radiance Fields, or NeRFs, have drastically improved novel view synthesis and 3D reconstruction for rendering. NeRFs achieve impressive results on object-centric reconstructions, but the quality of novel view synthesis with…

Neural rendering techniques combining machine learning with geometric reasoning have arisen as one of the most promising approaches for synthesizing novel views of a scene from a sparse set of images. Among these, stands out the Neural…

Synthetic data and novel rendering techniques have greatly influenced computer vision research in tasks like target tracking and human pose estimation. However, robotics research has lagged behind in leveraging it due to the limitations of…

Neural Radiance Field (NeRF) has garnered significant attention from both academia and industry due to its intrinsic advantages, particularly its implicit representation and novel view synthesis capabilities. With the rapid advancements in…

Beyond novel view synthesis, Neural Radiance Fields are useful for applications that interact with the real world. In this paper, we use them as an implicit map of a given scene and propose a camera relocalization algorithm tailored for…

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…

Feature point detection and description is the backbone for various computer vision applications, such as Structure-from-Motion, visual SLAM, and visual place recognition. While learning-based methods have surpassed traditional handcrafted…

Recent years have witnessed an emerging paradigm shift toward embodied artificial intelligence, in which an agent must learn to solve challenging tasks by interacting with its environment. There are several challenges in solving embodied…

We present a neural radiance field (NeRF) based large-scale reconstruction system that fuses lidar and vision data to generate high-quality reconstructions that are geometrically accurate and capture photorealistic texture. Our system…

3D surface reconstruction from images is essential for numerous applications. Recently, Neural Radiance Fields (NeRFs) have emerged as a promising framework for 3D modeling. However, NeRFs require accurate camera poses as input, and…

Accurate and robust simultaneous localization and mapping (SLAM) is crucial for autonomous mobile systems, typically achieved by leveraging the geometric features of the environment. Incorporating semantics provides a richer scene…

Neural Radiance Fields (NeRF) achieves photo-realistic image rendering from novel views, and the Neural Scene Graphs (NSG) \cite{ost2021neural} extends it to dynamic scenes (video) with multiple objects. Nevertheless, computationally heavy…

This paper presents DINO-SLAM, a DINO-informed design strategy to enhance neural implicit (Neural Radiance Field -- NeRF) and explicit representations (3D Gaussian Splatting -- 3DGS) in SLAM systems through more comprehensive scene…