Author: Wu
Year: 2024
- SLAM with implicit representation show poor localization and no loop closure with RGBD
- Fused feature based localization with loop closure and implicit representation (the one of NICESLAM)
- IMAP uses a single mlp to represent the entire scene
- Nice slam uses multiple encoder-decoder pair at different resolution for scene representation
- vote KF with overlap ratio
- perform joint optimization on reprojection, depth and color loss to refine pose and scene representation parameters
- loop closure with simple kp matching and pose graph optimization + refine scene representation parameters