LISNeRF Mapping: LiDAR-based Implicit Mapping via Semantic Neural Fields for Large-Scale 3D Scenes

arXiv:2311.02313v2 Announce Type: replace
Abstract: Large-scale semantic mapping is crucial for outdoor autonomous agents to fulfill high-level tasks such as planning and navigation. This paper proposes a novel method for large-scale 3D semantic reconstruction through implicit representations from posed LiDAR measurements alone. We first leverage an octree-based and hierarchical structure to store implicit features, then these implicit features are decoded to semantic information and signed distance value through shallow Multilayer Perceptrons (MLPs). We adopt off-the-shelf algorithms to predict the semantic …

3d scenes abstract agents arxiv autonomous autonomous agents cs.cv fields lidar mapping navigation novel paper planning scale semantic tasks through type via