Conceitos essenciais
This survey provides a comprehensive overview of the latest advancements in Simultaneous Localization and Mapping (SLAM) techniques inspired by radiance field representations, such as Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS). It examines the background, evolutionary path, inherent strengths, and limitations of these cutting-edge SLAM approaches.
Resumo
This survey presents a comprehensive overview of the latest advancements in Simultaneous Localization and Mapping (SLAM) techniques inspired by radiance field representations, such as Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS).
The content is organized as follows:
Background:
Existing SLAM surveys are reviewed, highlighting the lack of comprehensive coverage on radiance field-inspired SLAM.
The key concepts of radiance field theory, including NeRF and 3DGS, are introduced.
Commonly used SLAM datasets and evaluation metrics are presented.
Taxonomy and Analysis of Radiance Field-Inspired SLAM Techniques:
The survey categorizes and analyzes 73 recent SLAM methods that leverage NeRF and 3DGS representations.
The methods are organized into three main groups: RGB-D SLAM, Stereo/Event-based SLAM, and Hybrid SLAM.
For each method, the key features, such as scene representation, tracking approach, and additional capabilities, are discussed.
Quantitative Evaluation:
The survey provides a comprehensive quantitative analysis of the SLAM techniques across various metrics, including tracking, mapping, rendering, and performance.
The methods are evaluated on diverse datasets, showcasing their strengths and limitations in different scenarios.
Limitations and Future Directions:
The survey identifies the current limitations of radiance field-inspired SLAM and outlines promising future research directions.
The survey serves as a valuable resource for both novice and expert researchers, providing a thorough understanding of the current state-of-the-art in radiance field-inspired SLAM and highlighting the dynamic progress and specific challenges in this rapidly evolving field.