Towards Open World NeRF-Based SLAM

NICE-SLAM: Neural Implicit Scalable Encoding for SLAM

“…scenes, while NICE-SLAM can scale up to much larger indoor environments by applying hierarchical feature grids and tiny MLPs as the scene representation. Many follow-up works improve upon these two works from various perspectives, including efficient scene representation [18,21], fast optimziation [67], add IMU measurements [25], or different shape representations [39,30]. However, all of them require RGB-D inputs, which limits their applications in outdoor scenes or when only RGB sensors are available.…”

“…NICE-SLAM [76] introduces a hierarchical implicit encoding to perform map-ping and camera tracking in much larger indoor scenes. Although follow-up works [67,30,21,18,25,39] try to improve upon NICE-SLAM and iMAP from different perspectives, all of these works still rely on the reliable depth input from RGB-D sensors.…”