iMAP: Implicit Mapping and Positioning in Real-Time

03/23/2021
by   Edgar Sucar, et al.
4

We show for the first time that a multilayer perceptron (MLP) can serve as the only scene representation in a real-time SLAM system for a handheld RGB-D camera. Our network is trained in live operation without prior data, building a dense, scene-specific implicit 3D model of occupancy and colour which is also immediately used for tracking. Achieving real-time SLAM via continual training of a neural network against a live image stream requires significant innovation. Our iMAP algorithm uses a keyframe structure and multi-processing computation flow, with dynamic information-guided pixel sampling for speed, with tracking at 10 Hz and global map updating at 2 Hz. The advantages of an implicit MLP over standard dense SLAM techniques include efficient geometry representation with automatic detail control and smooth, plausible filling-in of unobserved regions such as the back surfaces of objects.

READ FULL TEXT

page 1

page 4

page 5

page 6

page 7

page 8

research
09/10/2023

LONER: LiDAR Only Neural Representations for Real-Time SLAM

This paper proposes LONER, the first real-time LiDAR SLAM algorithm that...
research
02/07/2023

NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAM

Neural implicit representations have recently become popular in simultan...
research
04/27/2023

Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAM

We present Co-SLAM, a neural RGB-D SLAM system based on a hybrid represe...
research
09/18/2017

Direction-Aware Semi-Dense SLAM

To aide simultaneous localization and mapping (SLAM), future perception ...
research
08/12/2021

Continual Neural Mapping: Learning An Implicit Scene Representation from Sequential Observations

Recent advances have enabled a single neural network to serve as an impl...
research
10/06/2022

Feature-Realistic Neural Fusion for Real-Time, Open Set Scene Understanding

General scene understanding for robotics requires flexible semantic repr...
research
03/15/2022

Simultaneous Localisation and Mapping with Quadric Surfaces

There are many possibilities for how to represent the map in simultaneou...

Please sign up or login with your details

Forgot password? Click here to reset