DF-SLAM: Neural Feature Rendering Based on Dictionary Factors Representation for High-Fidelity Dense Visual SLAM System

arXiv:2404.17876v1 Announce Type: new
Abstract: We introduce a high-fidelity neural implicit dense visual Simultaneous Localization and Mapping (SLAM) system, termed DF-SLAM. In our work, we employ dictionary factors for scene representation, encoding the geometry and appearance information of the scene as a combination of basis and coefficient factors. Compared to neural implicit SLAM methods that directly encode scene information as features, our method exhibits superior scene detail reconstruction capabilities and more efficient memory usage, while our model size is insensitive …

arxiv cs.cv dictionary feature fidelity rendering representation slam type visual visual slam