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Get 3D scene and location by encoding geometry and appearance as factors for features with DF-SLAM

Get 3D scene and location by encoding geometry and appearance as factors for features with DF-SLAM


DF-SLAM: Dictionary Factors Representation for High-Fidelity Neural Implicit Dense Visual SLAM System



... introduce a high-fidelity neural implicit dense visual Simultaneous Localization and Mapping (SLAM) system, termed DF-SLAM.


... employ dictionary factors for scene representation, encoding the geometry and appearance information of the scene as a combination of basis and coefficient factors.


... method exhibits superior scene detail reconstruction capabilities and more efficient memory usage, while ... model size is insensitive to the size of the scene map


... employ feature integration rendering to accelerate color rendering speed while ensuring color ... quality, further enhancing the real-time performance of ... neural SLAM method.


... method is competitive with existing state-of-the-art neural implicit SLAM methods in terms of real-time performance, localization accuracy, and scene reconstruction quality ...



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