Photo-SLAM: Real-time Simultaneous Localization and Photorealistic Mapping for Monocular, Stereo, and RGB-D Cameras

arXiv:2311.16728v2 Announce Type: replace
Abstract: The integration of neural rendering and the SLAM system recently showed promising results in joint localization and photorealistic view reconstruction. However, existing methods, fully relying on implicit representations, are so resource-hungry that they cannot run on portable devices, which deviates from the original intention of SLAM. In this paper, we present Photo-SLAM, a novel SLAM framework with a hyper primitives map. Specifically, we simultaneously exploit explicit geometric features for localization and learn implicit photometric features …

abstract arxiv cameras cs.cv devices however integration localization mapping neural rendering photo photorealistic real-time rendering results rgb-d slam type view