Real-time 3D scene reconstruction from monocular images using SLAM for NeRF with NeRF-SLAM
Real-time 3D scene reconstruction from monocular images using SLAM for NeRF with NeRF-SLAM
NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields
arXiv paper abstract https://arxiv.org/abs/2210.13641
arXiv PDF paper https://arxiv.org/pdf/2210.13641.pdf
… propose a novel geometric and photometric 3D mapping pipeline for accurate and real-time scene reconstruction from monocular images.
… leverage recent advances in dense monocular SLAM and real-time hierarchical volumetric neural radiance fields.
… insight is that dense monocular SLAM provides the right information to fit a neural radiance field of the scene in real-time, by providing accurate pose estimates and depth-maps with associated uncertainty.
… proposed uncertainty-based depth loss, … achieve not only good photometric accuracy, but also great geometric accuracy.
… proposed pipeline achieves better geometric and photometric accuracy than competing approaches (up to 179% better PSNR and 86% better L1 depth), while working in real-time and using only monocular images.
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