How NeRFs and 3D Gaussian Splatting are Reshaping SLAM: a Survey
CoRR(2024)
摘要
Over the past two decades, research in the field of Simultaneous Localization
and Mapping (SLAM) has undergone a significant evolution, highlighting its
critical role in enabling autonomous exploration of unknown environments. This
evolution ranges from hand-crafted methods, through the era of deep learning,
to more recent developments focused on Neural Radiance Fields (NeRFs) and 3D
Gaussian Splatting (3DGS) representations. Recognizing the growing body of
research and the absence of a comprehensive survey on the topic, this paper
aims to provide the first comprehensive overview of SLAM progress through the
lens of the latest advancements in radiance fields. It sheds light on the
background, evolutionary path, inherent strengths and limitations, and serves
as a fundamental reference to highlight the dynamic progress and specific
challenges.
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