Benchmarking Implicit Neural Representation and Geometric Rendering in Real-Time RGB-D SLAM

arXiv:2403.19473v1 Announce Type: new
Abstract: Implicit neural representation (INR), in combination with geometric rendering, has recently been employed in real-time dense RGB-D SLAM. Despite active research endeavors being made, there lacks a unified protocol for fair evaluation, impeding the evolution of this area. In this work, we establish, to our knowledge, the first open-source benchmark framework to evaluate the performance of a wide spectrum of commonly used INRs and rendering functions for mapping and localization. The goal of our benchmark …

abstract arxiv benchmarking combination cs.cv evaluation evolution fair protocol real-time rendering representation research rgb-d slam type work