iMAP: Implicit Mapping and Positioning in Real-Time. Sucar, E., Liu, S., Ortiz, J., & Davison, A., J. In 2021 IEEE/CVF International Conference on Computer Vision, ICCV 2021, Montreal, QC, Canada, October 10-17, 2021, pages 6209--6218, 2021. ![iMAP: Implicit Mapping and Positioning in Real-Time [pdf]](https://bibbase.org/img/filetypes/pdf.svg "pdf")
Paper abstract bibtex We show for the first time that a multilayer perceptron (MLP) can serve as the only scene representation in a real-time SLAM system for a handheld RGB-D camera. Our network is trained in live operation without prior data, building a dense, scene-specific implicit 3D model of occupancy and colour which is also immediately used for tracking. Achieving real-time SLAM via continual training of a neural network against a live image stream requires significant innovation. Our iMAP algorithm uses a keyframe structure and multi-processing computation flow, with dynamic information-guided pixel sampling for speed, with tracking at 10 Hz and global map updating at 2 Hz. The advantages of an implicit MLP over standard dense SLAM techniques include efficient geometry representation with automatic detail control and smooth, plausible filling-in of unobserved regions such as the back surfaces of objects.
@inproceedings{
title = {iMAP: Implicit Mapping and Positioning in Real-Time},
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abstract = {We show for the first time that a multilayer perceptron (MLP) can serve as the only scene representation in a real-time SLAM system for a handheld RGB-D camera. Our network is trained in live operation without prior data, building a dense, scene-specific implicit 3D model of occupancy and colour which is also immediately used for tracking. Achieving real-time SLAM via continual training of a neural network against a live image stream requires significant innovation. Our iMAP algorithm uses a keyframe structure and multi-processing computation flow, with dynamic information-guided pixel sampling for speed, with tracking at 10 Hz and global map updating at 2 Hz. The advantages of an implicit MLP over standard dense SLAM techniques include efficient geometry representation with automatic detail control and smooth, plausible filling-in of unobserved regions such as the back surfaces of objects.},
bibtype = {inproceedings},
author = {Sucar, Edgar and Liu, Shikun and Ortiz, Joseph and Davison, Andrew J},
booktitle = {2021 IEEE/CVF International Conference on Computer Vision, ICCV 2021, Montreal, QC, Canada, October 10-17, 2021}
}
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