Get 3D scene and location by encoding geometry and appearance as factors for features with DF-SLAM
Get 3D scene and location by encoding geometry and appearance as factors for features with DF-SLAM
DF-SLAM: Dictionary Factors Representation for High-Fidelity Neural Implicit Dense Visual SLAM System
arXiv paper abstract https://arxiv.org/abs/2404.17876
arXiv PDF paper https://arxiv.org/pdf/2404.17876
… introduce a high-fidelity neural implicit dense visual Simultaneous Localization and Mapping (SLAM) system, termed DF-SLAM.
… employ dictionary factors for scene representation, encoding the geometry and appearance information of the scene as a combination of basis and coefficient factors.
… method exhibits superior scene detail reconstruction capabilities and more efficient memory usage, while … model size is insensitive to the size of the scene map
… employ feature integration rendering to accelerate color rendering speed while ensuring color … quality, further enhancing the real-time performance of … neural SLAM method.
… method is competitive with existing state-of-the-art neural implicit SLAM methods in terms of real-time performance, localization accuracy, and scene reconstruction quality …
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