VPE-SLAM: Neural Implicit Voxel-permutohedral Encoding for SLAM
Zhiyao Zhang,Yunzhou Zhang,You Shen,Lei Rong,Sizhan Wang,Xin Ouyang,Yulong Li,Zhiyao Zhang,Yunzhou Zhang,You Shen,Lei Rong,Sizhan Wang,Xin Ouyang,Yulong Li
NeRF can reconstruct incredibly realistic environmental maps in dense simultaneous localization and mapping, providing robots with more comprehensive scene map information. However, NeRF often struggles with geometric distortions in indoor reconstructions. To correct geometric distortions, we develop VPE-SLAM, based on the proposed voxel-permutohedral encoding, which can incrementally reconstruct ...
