在这项工作中,我们试图结合分层场景表征(hierarchical scene representation)和神经隐式表征(neural implicit representation)的优势,以完成稠密RGB-D SLAM的任务。为此,我们引入了NICE-SLAM,这是一种稠密的RGB-D SLAM系统,可以应用于大规模场景,同时保持预测能力。我们的关键思想是用层次特征网格来表示场景的几何形状和外...
NICE-SLAM: Neural Implicit Scalable Encoding for SLAM Zihan Zhu, Songyou Peng, Viktor Larsson, Weiwei Xu, Hujun Bao, Zhaopeng Cui, Martin R. Oswald, Marc Pollefeys CVPR 2022|May 2022 下载BibTex Neural implicit representations have recently shown encouraging results in various domains, incl...
NICE-SLAM: Neural Implicit Scalable Encoding for SLAM Zihan Zhu, Songyou Peng, Viktor Larsson, Weiwei Xu, Hujun Bao, Zhaopeng Cui, Martin R. Oswald, Marc Pollefeys CVPR 2022|May 2022 Download BibTex Neural implicit representations have recently shown encouraging results in various domains, includin...
NICE-SLAM: Neural Implicit Scalable Encoding for SLAM,CVPR2022 NICE-SLAM主要维护一个Feature grids全局地图,该地图包含四个层级(代码中为coarse, middle, fine, color四层,论文图中为三层),每个层级是一个三维栅格地图,每个栅格存储32维特征。 渲染rgb或depth时,首先在ray上按照一定策略采样一些点,然后根据每个...
NICE-SLAM: Neural Implicit Scalable Encoding for SLAM Zihan Zhu1,2∗ Songyou Peng2,4* Viktor Larsson3 Zhaopeng Cui1 † Martin R. Oswald2,5 Weiwei Xu1 Hujun Bao1 Marc Pollefeys2,6 1State Key Lab of CAD&CG, Zhejiang University 2ETH Zurich 3Lund University 4MPI for Intelli...
Neural implicit representations have recently shown encouraging results in various domains, including promising progress in simultaneous localization and mapping (SLAM). Nevertheless, existing methods produce over-smoothed scene reconstructions and have difficulty scaling up to large scenes. These limitations ar...
NICE-SLAM: Neural Implicit Scalable Encoding for SLAM for turtlebot3 - yansonghu-lele/nice-slam-turtlebot4
ContactZihan ZhuandSongyou Pengfor questions, comments and reporting bugs. About [CVPR'22] NICE-SLAM: Neural Implicit Scalable Encoding for SLAM pengsongyou.github.io/nice-slam Resources Readme License Apache-2.0 license Activity Custom properties ...
Instant Neural Graphics Primitives with a Multiresolution Hash Encoding Radiance Fields without Neural Networks TensoRF: Tensorial Radiance Fields Depth-supervised NeRF: Fewer Views and Faster Training for Free Variable Bitrate Neural Fields(压缩)
基于以上问题,我们整理目前比较知名的基于视觉的NeRF SLAM开源框架有: NeRF: Representing Scenes as Neural Radiance Fields for View Synthesis, ECCV, 2020 NICE-SLAM: Neural Implicit Scalable Encoding for SLAM, CVPR, 2021. iMap: Implicit Mapping and Positioning in Real-Time, ICCV, 2021. ...