https://scholars.lib.ntu.edu.tw/handle/123456789/635916
標題: | Orbeez-SLAM: A Real-time Monocular Visual SLAM with ORB Features and NeRF-realized Mapping | 作者: | Chung, Chi Ming Tseng, Yang Che Hsu, Ya Ching Shi, Xiang Qian Hua, Yun Hung Yeh, Jia Fong WEN-CHIN CHEN Chen, Yi Ting WINSTON HSU |
公開日期: | 1-一月-2023 | 卷: | 2023-May | 來源出版物: | Proceedings - IEEE International Conference on Robotics and Automation | 摘要: | A spatial AI that can perform complex tasks through visual signals and cooperate with humans is highly anticipated. To achieve this, we need a visual SLAM that easily adapts to new scenes without pre-training and generates dense maps for downstream tasks in real-time. None of the previous learning-based and non-learning-based visual SLAMs satisfy all needs due to the intrinsic limitations of their components. In this work, we develop a visual SLAM named Orbeez-SLAM, which successfully collaborates with implicit neural representation and visual odometry to achieve our goals. Moreover, Orbeez-SLAM can work with the monocular camera since it only needs RGB inputs, making it widely applicable to the real world. Results show that our SLAM is up to 800x faster than the strong baseline with superior rendering outcomes. Code link: https://github.com/MarvinChung/Orbeez-SLAM. |
URI: | https://scholars.lib.ntu.edu.tw/handle/123456789/635916 | ISBN: | 9798350323658 | ISSN: | 10504729 | DOI: | 10.1109/ICRA48891.2023.10160950 |
顯示於: | 資訊工程學系 |
在 IR 系統中的文件,除了特別指名其著作權條款之外,均受到著作權保護,並且保留所有的權利。