H2-Mapping: Real-time Dense Mapping Using Hierarchical Hybrid Representation

By: Chenxing Jiang, Hanwen Zhang, Peize Liu, Zehuan Yu, Hui Cheng, Boyu Zhou, Shaojie Shen

tl;dr: octree SDF prior+multiresolution hash encoding; coverage-maximizing keyframe

[https://arxiv.org/pdf/2306.03207.pdf](https://arxiv.org/pdf/2306.03207.pdf)

Abstract:

>Constructing a high-quality dense map in realtime is essential for robotics, AR/VR, and digital twins applications. As Neural Radiance Field (NeRF) greatly improves the mapping performance, in this paper, we propose a NeRF-based mapping method that enables higher-quality reconstruction and real-time capability even on edge computers. Specifically, we propose a novel hierarchical hybrid representation that …

abstract computervision encoding hash hierarchical hybrid mapping prior real-time representation