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We present NeuSE, a novel Neural SE(3)-Equivariant Embedding for objects, and illustrate how it supports object SLAM for consistent spatial understanding with long-term scene changes.
Closed-form solution of absolute orientation using unit quaternions
Berthold KP Horn · 1987
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Parallel tracking and mapping on a camera phone
Georg Klein and David Murray · 2009
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isam2: Incremental smoothing and mapping with fluid relinearization and incremental variable reordering
Michael Kaess, Hordur Johannsson, Richard Roberts, Viorela Ila, John Leonard, and Frank Dellaert · 2011
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Factor graphs and gtsam: A hands-on introduction
Frank Dellaert · 2012
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SLAM++: Simultaneous localisation and mapping at the level of objects
Renato F Salas-Moreno, Richard A Newcombe, Hauke Strasdat, Paul HJ Kelly, and Andrew J Davison · 2013
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LSD-SLAM: Large-scale direct monocular SLAM
Jakob Engel, Thomas Schöps, and Daniel Cremers · 2014
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Shapenet: An information-rich 3d model repository
Angel X Chang, Thomas Funkhouser, Leonidas Guibas, Pat Hanrahan, Qixing Huang, Zimo Li, Silvio Savarese, Manolis Savva, Shuran Song, Hao Su, et al · 2015
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Pybullet, a python module for physics simulation for games, robotics and machine learning
Erwin Coumans and Yunfei Bai · 2016
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When 2.5d is not enough: Simultaneous reconstruction, segmentation and recognition on dense SLAM
Keisuke Tateno, Federico Tombari, and Nassir Navab · 2016
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Semanticfusion: Dense 3d semantic mapping with convolutional neural networks
John McCormac, Ankur Handa, Andrew Davison, and Stefan Leutenegger · 2017
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Colored point cloud registration revisited
Jaesik Park, Qian-Yi Zhou, and Vladlen Koltun · 2017
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Fusion++: Volumetric object-level SLAM
John McCormac, Ronald Clark, Michael Bloesch, Andrew Davison, and Stefan Leutenegger · 2018
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QuadricSLAM: Dual quadrics from object detections as landmarks in object-oriented SLAM
Lachlan Nicholson, Michael Milford, and Niko Sünderhauf · 2018
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Maskfusion: Real-time recognition, tracking and reconstruction of multiple moving objects
Martin Runz, Maud Buffier, and Lourdes Agapito · 2018
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Open3D: A modern library for 3D data processing
Qian-Yi Zhou, Jaesik Park, and Vladlen Koltun · 2018
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Real-time monocular object-model aware sparse SLAM
Mehdi Hosseinzadeh, Kejie Li, Yasir Latif, and Ian Reid · 2019
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Occupancy networks: Learning 3d reconstruction in function space
Lars Mescheder, Michael Oechsle, Michael Niemeyer, Sebastian Nowozin, and Andreas Geiger · 2019
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Deepsdf: Learning continuous signed distance functions for shape representation
Jeong Joon Park, Peter Florence, Julian Straub, Richard Newcombe, and Steven Lovegrove · 2019
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EM-Fusion: Dynamic object-level SLAM with probabilistic data association
Michael Strecke and Joerg Stueckler · 2019
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Detectron2, 2019
Yuxin Wu, Alexander Kirillov, Francisco Massa, Wan-Yen Lo, and Ross Girshick · 2019
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Mid-fusion: Octree-based object-level multi-instance dynamic SLAM
Binbin Xu, Wenbin Li, Dimos Tzoumanikas, Michael Bloesch, Andrew Davison, and Stefan Leutenegger · 2019
DSP-SLAM: Object oriented SLAM with deep shape priors
Jingwen Wang, Martin Rünz, and Lourdes Agapito · 2021
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Vision-only robot navigation in a neural radiance world
Michal Adamkiewicz, Timothy Chen, Adam Caccavale, Rachel Gardner, Preston Culbertson, Jeannette Bohg, and Mac Schwager · 2022
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Orbeez-SLAM: A real-time monocular visual SLAM with ORB features and NeRF-realized mapping
Chi-Ming Chung, Yang-Che Tseng, Ya-Ching Hsu, Xiang-Qian Shi, Yun-Hung Hua, Jia-Fong Yeh, Wen-Chin Chen, Yi-Ting Chen, and Winston H Hsu · 2022
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Robust change detection based on neural descriptor fields
Jiahui Fu, Yilun Du, Kurran Singh, Joshua B. Tenenbaum, and John J. Leonard · 2022
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3d neural scene representations for visuomotor control
Yunzhu Li, Shuang Li, Vincent Sitzmann, Pulkit Agrawal, and Antonio Torralba · 2022
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Cited alongside, same era.
CubeSLAM: Monocular 3-D object SLAM
Shichao Yang and Sebastian Scherer · 2019
Cited alongside, same era.
Scenecode: Monocular dense semantic reconstruction using learned encoded scene representations
Shuaifeng Zhi, Michael Bloesch, Stefan Leutenegger, and Andrew J Davison · 2019
Cited alongside, same era.
Dex-NeRF: Using a neural radiance field to grasp transparent objects
Jeffrey Ichnowski*, Yahav Avigal*, Justin Kerr, and Ken Goldberg · 2020
Cited alongside, same era.
NodeSLAM: Neural object descriptors for multi-view shape reconstruction
Edgar Sucar, Kentaro Wada, and Andrew Davison · 2020
Cited alongside, same era.
Orb-SLAM3: An accurate open-source library for visual, visual–inertial, and multimap SLAM
Carlos Campos, Richard Elvira, Juan J Gómez Rodríguez, José MM Montiel, and Juan D Tardós · 2021
Cited alongside, same era.
Vector neurons: A general framework for so(3)-equivariant networks
Congyue Deng, Or Litany, Yueqi Duan, Adrien Poulenard, Andrea Tagliasacchi, and Leonidas J. Guibas · 2021
Cited alongside, same era.
Lens: Localization enhanced by nerf synthesis
Arthur Moreau, Nathan Piasco, Dzmitry Tsishkou, Bogdan Stanciulescu, and Arnaud de La Fortelle · 2022
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isdf: Real-time neural signed distance fields for robot perception
Joseph Ortiz, Alexander Clegg, Jing Dong, Edgar Sucar, David Novotny, Michael Zollhoefer, and Mustafa Mukadam · 2022
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NeRF-SLAM: Real-time dense monocular SLAM with neural radiance fields
Antoni Rosinol, John J Leonard, and Luca Carlone · 2022
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Hyunwoo Ryu, Jeong-Hoon Lee, Hong-in Lee, and Jongeun Choi · 2022
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Panoptic multi-tsdfs: a flexible representation for online multi-resolution volumetric mapping and long-term dynamic scene consistency
Lukas Schmid, Jeffrey Delmerico, Johannes Schönberger, Juan Nieto, Marc Pollefeys, Roland Siegwart, and Cesar Cadena · 2022
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Acid: Action-conditional implicit visual dynamics for deformable object manipulation
Bokui Shen, Zhenyu Jiang, Christopher Choy, Leonidas J Guibas, Silvio Savarese, Anima Anandkumar, and Yuke Zhu · 2022
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Neural descriptor fields: Se(3)-equivariant object representations for manipulation
Anthony Simeonov, Yilun Du, Andrea Tagliasacchi, Joshua B. Tenenbaum, Alberto Rodriguez, Pulkit Agrawal, and Vincent Sitzmann · 2022
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NeRF-Supervision: Learning dense object descriptors from neural radiance fields
Lin Yen-Chen, Pete Florence, Jonathan T. Barron, Tsung-Yi Lin, Alberto Rodriguez, and Phillip Isola · 2022
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Local neural descriptor fields: Locally conditioned object representations for manipulation
Ethan Chun, Yilun Du, Anthony Simeonov, Tomas Lozano-Perez, and Leslie Kaelbling · 2023
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