iMODE:Real-Time Incremental Monocular Dense Mapping Using Neural Field
Hidenobu Matsuki,Edgar Sucar,Tristan Laidow,Kentaro Wada,Raluca Scona,Andrew J. Davison,Hidenobu Matsuki,Edgar Sucar,Tristan Laidow,Kentaro Wada,Raluca Scona,Andrew J. Davison
We present a novel real-time dense and semantic neural field mapping system that uses only monocular images as input. Our scene representation is a dense continuous radiance field represented by a Multi-Layer Perceptron (MLP), trained from scratch in real-time. We build on high-performance sparse visual SLAM and use camera poses and sparse keypoint depths as supervision alongside RGB keyframes. Si...
