$\nu$-DBA: Neural Implicit Dense Bundle Adjustment Enables Image-Only Driving Scene Reconstruction

arXiv:2404.18439v1 Announce Type: new
Abstract: The joint optimization of the sensor trajectory and 3D map is a crucial characteristic of bundle adjustment (BA), essential for autonomous driving. This paper presents $\nu$-DBA, a novel framework implementing geometric dense bundle adjustment (DBA) using 3D neural implicit surfaces for map parametrization, which optimizes both the map surface and trajectory poses using geometric error guided by dense optical flow prediction. Additionally, we fine-tune the optical flow model with per-scene self-supervision to further improve the …

3d map abstract arxiv autonomous autonomous driving cs.cv cs.ro driving framework image map novel optimization paper sensor trajectory type