Incremental Joint Learning of Depth, Pose and Implicit Scene Representation on Monocular Camera in Large-scale Scenes

arXiv:2404.06050v1 Announce Type: new
Abstract: Dense scene reconstruction for photo-realistic view synthesis has various applications, such as VR/AR, autonomous vehicles. However, most existing methods have difficulties in large-scale scenes due to three core challenges: \textit{(a) inaccurate depth input.} Accurate depth input is impossible to get in real-world large-scale scenes. \textit{(b) inaccurate pose estimation.} Most existing approaches rely on accurate pre-estimated camera poses. \textit{(c) insufficient scene representation capability.} A single global radiance field lacks the capacity to effectively scale to large-scale …

abstract applications arxiv autonomous autonomous vehicles challenges core cs.cv cs.ro however incremental photo representation scale synthesis type vehicles view