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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.
How does a brain build a cognitive code?
Stephen Grossberg · 1982
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On the Representation and Estimation of Spatial Uncertainty
R. C. Smith and P. Cheeseman · 1986
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A volumetric method for building complex models from range images
B. Curless and M. Levoy · 1996
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Parallel Tracking and Mapping for Small AR Workspaces
G. Klein and D. W. Murray · 2007
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KinectFusion: Real-Time Dense Surface Mapping and Tracking
R. A. Newcombe, S. Izadi, O. Hilliges, D. Molyneaux, D. Kim, A. J. Davison, P. Kohli, J. Shotton, S. Hodges, and A. Fitzgibbon · 2011
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DTAM: Dense Tracking and Mapping in Real-Time
R. A. Newcombe, S. Lovegrove, and A. J. Davison · 2011
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A Benchmark for the Evaluation of RGB-D SLAM Systems
J. Sturm, N. Engelhard, F. Endres, W. Burgard, and D. Cremers · 2012
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Kintinuous: Spatially Extended KinectFusion
T. Whelan, J. B. McDonald, M. Kaess, M. Fallon, H. Johannsson, and J. J. Leonard · 2012
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Real-time 3D Reconstruction in Dynamic Scenes using Point-based Fusion
M. Keller, D. Lefloch, M. Lambers, S. Izadi, T. Weyrich, and A. Kolb · 2013
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ADAM: A method for stochastic optimization
Diederik P. Kingma and Jimmy Ba · 2015
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ElasticFusion: Dense SLAM without a pose graph
T. Whelan, S. Leutenegger, R. F. Salas-Moreno, B. Glocker, and A. J. Davison · 2015
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Andrei A Rusu, Neil C Rabinowitz, Guillaume Desjardins, Hubert Soyer, James Kirkpatrick, Koray Kavukcuoglu, Razvan Pascanu, and Raia Hadsell · 2016
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BundleFusion: Real-time Globally Consistent 3D Reconstruction using On-the-fly Surface Re-integration
Angela Dai, Matthias Nießner, Michael Zollhöfer, Shahram Izadi, and Christian Theobalt · 2017
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Overcoming catastrophic forgetting in neural networks
James Kirkpatrick, Razvan Pascanu, Neil Rabinowitz, Joel Veness, Guillaume Desjardins, Andrei A Rusu, Kieran Milan, John Quan, Tiago Ramalho, Agnieszka Grabska-Barwinska, et al · 2017
Cited alongside, same era.
ORB-SLAM2: An Open-Source SLAM System for Monocular, Stereo, and RGB-D Cameras
R. Mur-Artal and J. D. Tardós · 2017
Cited alongside, same era.
Continual learning with deep generative replay
Hanul Shin, Jung Kwon Lee, Jaehong Kim, and Jiwon Kim · 2017
Cited alongside, same era.
CodeSLAM — learning a compact, optimisable representation for dense visual SLAM
M. Bloesch, J. Czarnowski, R. Clark, S. Leutenegger, and A. J. Davison · 2018
Cited alongside, same era.
Progress & compress: A scalable framework for continual learning
Jonathan Schwarz, Jelena Luketina, Wojciech M Czarnecki, Agnieszka Grabska-Barwinska, Yee Whye Teh, Razvan Pascanu, and Raia Hadsell · 2018
Cited alongside, same era.
The Replica Dataset: A digital replica of indoor spaces
Julian Straub, Thomas Whelan, Lingni Ma, Yufan Chen, Erik Wijmans, Simon Green, Jakob J Engel, Raul Mur-Artal, Carl Ren, Shobhit Verma, et al · 2019
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Deep Local Shapes: Learning local SDF priors for detailed 3d reconstruction
Rohan Chabra, Jan Eric Lenssen, Eddy Ilg, Tanner Schmidt, Julian Straub, Steven Lovegrove, and Richard Newcombe · 2020
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Neural unsigned distance fields for implicit function learning
Julian Chibane, Gerard Pons-Moll, et al · 2020
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SG-NN: Sparse generative neural networks for self-supervised scene completion of RGB-D scans
Angela Dai, Christian Diller, and Matthias Nießner · 2020
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NeRF: Representing scenes as neural radiance fields for view synthesis
Ben Mildenhall, Pratul P. Srinivasan, Matthew Tancik, Jonathan T. Barron, Ravi Ramamoorthi, and Ren Ng · 2020
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Efficient octree-based volumetric SLAM supporting signed-distance and occupancy mapping
Emanuele Vespa, Nikolay Nikolov, Marius Grimm, Luigi Nardi, Paul HJ Kelly, and Stefan Leutenegger · 2018
Cited alongside, same era.
Generative models from the perspective of continual learning
Timothée Lesort, Hugo Caselles-Dupré, Michael Garcia-Ortiz, Andrei Stoian, and David Filliat · 2019
Cited alongside, same era.
Continuous learning in single-incremental-task scenarios
Davide Maltoni and Vincenzo Lomonaco · 2019
Cited alongside, same era.
Occupancy Networks: Learning 3D reconstruction in function space
Lars Mescheder, Michael Oechsle, Michael Niemeyer, Sebastian Nowozin, and Andreas Geiger · 2019
Cited alongside, same era.
DeepSDF: Learning continuous signed distance functions for shape representation
Jeong Joon Park, Peter Florence, Julian Straub, Richard Newcombe, and Steven Lovegrove · 2019
Cited alongside, same era.
PyTorch: An imperative style, high-performance deep learning library
Adam Paszke, Sam Gross, Francisco Massa, Adam Lerer, James Bradbury, Gregory Chanan, Trevor Killeen, Zeming Lin, Natalia Gimelshein, Luca Antiga, et al · 2019
Cited alongside, same era.
Experience replay for continual learning
David Rolnick, Arun Ahuja, Jonathan Schwarz, Timothy Lillicrap, and Gregory Wayne · 2019
Cited alongside, same era.
Convolutional occupancy networks
Songyou Peng, Michael Niemeyer, Lars Mescheder, Marc Pollefeys, and Andreas Geiger · 2020
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Implicit neural representations with periodic activation functions
Vincent Sitzmann, Julien Martel, Alexander Bergman, David Lindell, and Gordon Wetzstein · 2020
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NodeSLAM: Neural object descriptors for multi-view shape reconstruction
Edgar Sucar, Kentaro Wada, and Andrew Davison · 2020
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Fourier features let networks learn high frequency functions in low dimensional domains
Matthew Tancik, Pratul Srinivasan, Ben Mildenhall, Sara Fridovich-Keil, Nithin Raghavan, Utkarsh Singhal, Ravi Ramamoorthi, Jonathan Barron, and Ren Ng · 2020
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Deep implicit volume compression
Danhang Tang, Saurabh Singh, Philip A Chou, Christian Hane, Mingsong Dou, Sean Fanello, Jonathan Taylor, Philip Davidson, Onur G Guleryuz, Yinda Zhang, et al · 2020
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RoutedFusion: Learning real-time depth map fusion
Silvan Weder, Johannes Schonberger, Marc Pollefeys, and Martin R Oswald · 2020
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iNeRF: Inverting neural radiance fields for pose estimation
Lin Yen-Chen, Pete Florence, Jonathan T Barron, Alberto Rodriguez, Phillip Isola, and Tsung-Yi Lin · 2020
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NeRF–: Neural radiance fields without known camera parameters
Zirui Wang, Shangzhe Wu, Weidi Xie, Min Chen, and Victor Adrian Prisacariu · 2021
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