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DVN-SLAM: Dynamic Visual Neural SLAM Based on Local-Global Encoding
March 19, 2024, 4:49 a.m. | Wenhua Wu, Guangming Wang, Ting Deng, Sebastian Aegidius, Stuart Shanks, Valerio Modugno, Dimitrios Kanoulas, Hesheng Wang
cs.CV updates on arXiv.org arxiv.org
Abstract: Recent research on Simultaneous Localization and Mapping (SLAM) based on implicit representation has shown promising results in indoor environments. However, there are still some challenges: the limited scene representation capability of implicit encodings, the uncertainty in the rendering process from implicit representations, and the disruption of consistency by dynamic objects. To address these challenges, we propose a real-time dynamic visual SLAM system based on local-global fusion neural implicit representation, named DVN-SLAM. To improve the scene …
abstract arxiv capability challenges cs.cv disruption dynamic encoding environments global however localization mapping process rendering representation research results slam type uncertainty visual
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