NeRF-VINS: A Real-time Neural Radiance Field Map-based Visual-Inertial Navigation System
Saimouli Katragadda,Woosik Lee,Yuxiang Peng,Patrick Geneva,Chuchu Chen,Chao Guo,Mingyang Li,Guoquan Huang,Saimouli Katragadda,Woosik Lee,Yuxiang Peng,Patrick Geneva,Chuchu Chen,Chao Guo,Mingyang Li,Guoquan Huang
Achieving efficient and consistent localization with a prior map remains challenging in robotics. Conventional keyframe-based approaches often suffer from sub-optimal viewpoints due to limited field of view (FOV) and/or constrained motion, thus degrading the localization performance. To address this issue, we design a real-time tightly-coupled Neural Radiance Fields (NeRF)-aided visual-inertial na...
