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We propose SNI-SLAM, a semantic SLAM system utilizing neural implicit representation, that simultaneously performs accurate semantic mapping, high-quality surface reconstruction, and robust camera tracking.
Monoslam: Real-time single camera slam
Andrew J Davison, Ian D Reid, Nicholas D Molton, and Olivier Stasse · 2007
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A multi-state constraint kalman filter for vision-aided inertial navigation
Anastasios I Mourikis and Stergios I Roumeliotis · 2007
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Kinectfusion: real-time 3d reconstruction and interaction using a moving depth camera
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A benchmark for the evaluation of rgb-d slam systems
Jürgen Sturm, Nikolas Engelhard, Felix Endres, Wolfram Burgard, and Daniel Cremers · 2012
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Octomap: An efficient probabilistic 3d mapping framework based on octrees
Armin Hornung, Kai M Wurm, Maren Bennewitz, Cyrill Stachniss, and Wolfram Burgard · 2013
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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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Fully convolutional networks for semantic segmentation
Jonathan Long, Evan Shelhamer, and Trevor Darrell · 2015
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Elasticfusion: Dense slam without a pose graph
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Semanticfusion: Dense 3d semantic mapping with convolutional neural networks
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Vins-mono: A robust and versatile monocular visual-inertial state estimator
Tong Qin, Peiliang Li, and Shaojie Shen · 2018
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Voxgraph: Globally consistent, volumetric mapping using signed distance function submaps
Victor Reijgwart, Alexander Millane, Helen Oleynikova, Roland Siegwart, Cesar Cadena, and Juan Nieto · 2019
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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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Openvins: A research platform for visual-inertial estimation
Patrick Geneva, Kevin Eckenhoff, Woosik Lee, Yulin Yang, and Guoquan Huang · 2020
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Kimera: an open-source library for real-time metric-semantic localization and mapping
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Unsupervised learning of depth, optical flow and pose with occlusion from 3d geometry
Guangming Wang, Chi Zhang, Hesheng Wang, Jingchuan Wang, Yong Wang, and Xinlei Wang · 2020
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Orb-slam3: An accurate open-source library for visual, visual–inertial, and multimap slam
Carlos Campos, Richard Elvira, Juan J. Gómez Rodríguez, José M. M. Montiel, and Juan D. Tardós · 2021
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Nerf in the wild: Neural radiance fields for unconstrained photo collections
Ricardo Martin-Brualla, Noha Radwan, Mehdi SM Sajjadi, Jonathan T Barron, Alexey Dosovitskiy, and Daniel Duckworth · 2021
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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 · 2021
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Unisurf: Unifying neural implicit surfaces and radiance fields for multi-view reconstruction
Michael Oechsle, Songyou Peng, and Andreas Geiger · 2021
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imap: Implicit mapping and positioning in real-time
Edgar Sucar, Shikun Liu, Joseph Ortiz, and Andrew J Davison · 2021
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Nesf: Neural semantic fields for generalizable semantic segmentation of 3d scenes
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Efficient 3d deep lidar odometry
Guangming Wang, Xinrui Wu, Shuyang Jiang, Zhe Liu, and Hesheng Wang · 2022
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Vox-fusion: Dense tracking and mapping with voxel-based neural implicit representation
Xingrui Yang, Hai Li, Hongjia Zhai, Yuhang Ming, Yuqian Liu, and Guofeng Zhang · 2022
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Nice-slam: Neural implicit scalable encoding for slam
Zihan Zhu, Songyou Peng, Viktor Larsson, Weiwei Xu, Hujun Bao, Zhaopeng Cui, Martin R Oswald, and Marc Pollefeys · 2022
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Texpose: Neural texture learning for self-supervised 6d object pose estimation
Hanzhi Chen, Fabian Manhardt, Nassir Navab, and Benjamin Busam · 2023
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Tracking anything with decoupled video segmentation
Ho Kei Cheng, Seoung Wug Oh, Brian Price, Alexander Schwing, and Joon-Young Lee · 2023
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Volume rendering of neural implicit surfaces
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In-place scene labelling and understanding with implicit scene representation
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Neural rgb-d surface reconstruction
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Neural correspondence field for object pose estimation
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Nerf in the dark: High dynamic range view synthesis from noisy raw images
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Instant neural graphics primitives with a multiresolution hash encoding
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Yasaman Haghighi, Suryansh Kumar, Jean Philippe Thiran, and Luc Van Gool · 2023
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Eslam: Efficient dense slam system based on hybrid representation of signed distance fields
Mohammad Mahdi Johari, Camilla Carta, and François Fleuret · 2023
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vmap: Vectorised object mapping for neural field slam
Xin Kong, Shikun Liu, Marwan Taher, and Andrew J Davison · 2023
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Point-slam: Dense neural point cloud-based slam
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ilabel: Revealing objects in neural fields
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