Vox-Fusion++: Voxel-based Neural Implicit Dense Tracking and Mapping with Multi-maps

arXiv:2403.12536v1 Announce Type: new
Abstract: In this paper, we introduce Vox-Fusion++, a multi-maps-based robust dense tracking and mapping system that seamlessly fuses neural implicit representations with traditional volumetric fusion techniques. Building upon the concept of implicit mapping and positioning systems, our approach extends its applicability to real-world scenarios. Our system employs a voxel-based neural implicit surface representation, enabling efficient encoding and optimization of the scene within each voxel. To handle diverse environments without prior knowledge, we incorporate an octree-based structure …

arxiv cs.cv fusion mapping maps tracking type voxel