ActiveRMAP: Radiance Field for Active Mapping And Planning

Understand

A high-quality 3D reconstruction of a scene from a collection of 2D images can be achieved through offline/online mapping methods.

• In this paper, we explore active mapping from the perspective of implicit representations, which have recently produced compelling results in a variety of applications.
• One of the most popular implicit representations - Neural Radiance Field (NeRF), first demonstrated photorealistic rendering results using multi-layer perceptrons, with promising offline 3D reconstruction as a by-product of the radiance field.
• More recently, researchers also applied this implicit representation for online reconstruction and localization (i.e.