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DISORF: A Distributed Online NeRF Training and Rendering Framework for Mobile Robots
March 4, 2024, 5:45 a.m. | Chunlin Li, Ruofan Liang, Hanrui Fan, Zhengen Zhang, Sankeerth Durvasula, Nandita Vijaykumar
cs.CV updates on arXiv.org arxiv.org
Abstract: We present a framework, DISORF, to enable online 3D reconstruction and visualization of scenes captured by resource-constrained mobile robots and edge devices. To address the limited compute capabilities of edge devices and potentially limited network availability, we design a framework that efficiently distributes computation between the edge device and remote server. We leverage on-device SLAM systems to generate posed keyframes and transmit them to remote servers that can perform high quality 3D reconstruction and visualization …
3d reconstruction abstract arxiv availability capabilities compute cs.cv cs.ro design devices distributed edge edge devices framework mobile nerf network rendering robots training type visualization
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