%0 Generic %1 sucar2021implicit %A Sucar, Edgar %A Liu, Shikun %A Ortiz, Joseph %A Davison, Andrew J. %D 2021 %K nerf %T iMAP: Implicit Mapping and Positioning in Real-Time %U http://arxiv.org/abs/2103.12352 %X 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. Our network is trained in live operation without prior data, building a dense, scene-specific implicit 3D model of occupancy and colour which is also immediately used for tracking. Achieving real-time SLAM via continual training of a neural network against a live image stream requires significant innovation. Our iMAP algorithm uses a keyframe structure and multi-processing computation flow, with dynamic information-guided pixel sampling for speed, with tracking at 10 Hz and global map updating at 2 Hz. The advantages of an implicit MLP over standard dense SLAM techniques include efficient geometry representation with automatic detail control and smooth, plausible filling-in of unobserved regions such as the back surfaces of objects.

@misc{sucar2021implicit, abstract = {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. Our network is trained in live operation without prior data, building a dense, scene-specific implicit 3D model of occupancy and colour which is also immediately used for tracking. Achieving real-time SLAM via continual training of a neural network against a live image stream requires significant innovation. Our iMAP algorithm uses a keyframe structure and multi-processing computation flow, with dynamic information-guided pixel sampling for speed, with tracking at 10 Hz and global map updating at 2 Hz. The advantages of an implicit MLP over standard dense SLAM techniques include efficient geometry representation with automatic detail control and smooth, plausible filling-in of unobserved regions such as the back surfaces of objects.}, added-at = {2022-09-05T10:48:27.000+0200}, author = {Sucar, Edgar and Liu, Shikun and Ortiz, Joseph and Davison, Andrew J.}, biburl = {https://www.bibsonomy.org/bibtex/292e7ca1f9c955fa114a4e9d8b2d2edcf/m_gabriel}, description = {iMAP: Implicit Mapping and Positioning in Real-Time}, interhash = {85248a4517d057ecd06fb44e2a4e41bc}, intrahash = {92e7ca1f9c955fa114a4e9d8b2d2edcf}, keywords = {nerf}, note = {cite arxiv:2103.12352Comment: Typos, make pdf smaller}, timestamp = {2022-09-05T10:48:27.000+0200}, title = {iMAP: Implicit Mapping and Positioning in Real-Time}, url = {http://arxiv.org/abs/2103.12352}, year = 2021 }