H2-Mapping: Real-time Dense Mapping Using Hierarchical Hybrid Representation

Understand

Constructing a high-quality dense map in real-time is essential for robotics, AR/VR, and digital twins applications.

• As Neural Radiance Field (NeRF) greatly improves the mapping performance, in this paper, we propose a NeRF-based mapping method that enables higher-quality reconstruction and real-time capability even on edge computers.
• Specifically, we propose a novel hierarchical hybrid representation that leverages implicit multiresolution hash encoding aided by explicit octree SDF priors, describing the scene at different levels of detail.
• This representation allows for fast scene geometry initialization and makes scene geometry easier to learn.