ONeK-SLAM: A Robust Object-level Dense SLAM Based on Joint Neural Radiance Fields and Keypoints
Yue Zhuge,Haiyong Luo,Runze Chen,Yushi Chen,Jiaquan Yan,Zhuqing Jiang,Yue Zhuge,Haiyong Luo,Runze Chen,Yushi Chen,Jiaquan Yan,Zhuqing Jiang
Neural implicit representation has recently achieved significant advancements, especially in the field of SLAM(Simultaneous Localization and Mapping). Previous NeRF-based SLAM methods have difficulties with object-level localization and reconstruction and struggle in dynamic and illumination-varied environments. We propose ONeK-SLAM, a robust object-level SLAM system that effectively combines feat...
