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Implicit Event-RGBD Neural SLAM
March 19, 2024, 4:51 a.m. | Delin Qu, Chi Yan, Dong Wang, Jie Yin, Dan Xu, Bin Zhao, Xuelong Li
cs.CV updates on arXiv.org arxiv.org
Abstract: Implicit neural SLAM has achieved remarkable progress recently. Nevertheless, existing methods face significant challenges in non-ideal scenarios, such as motion blur or lighting variation, which often leads to issues like convergence failures, localization drifts, and distorted mapping. To address these challenges, we propose EN-SLAM, the first event-RGBD implicit neural SLAM framework, which effectively leverages the high rate and high dynamic range advantages of event data for tracking and mapping. Specifically, EN-SLAM proposes a differentiable CRF …
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