{"id":"https://openalex.org/W4317940099","doi":"https://doi.org/10.48550/arxiv.2301.08930","title":"Dense RGB SLAM with Neural Implicit Maps","display_name":"Dense RGB SLAM with Neural Implicit Maps","publication_year":2023,"publication_date":"2023-01-21","ids":{"openalex":"https://openalex.org/W4317940099","doi":"https://doi.org/10.48550/arxiv.2301.08930"},"language":"en","primary_location":{"id":"pmh:oai:arXiv.org:2301.08930","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2301.08930","pdf_url":"https://arxiv.org/pdf/2301.08930","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"type":"preprint","indexed_in":["arxiv","datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://arxiv.org/pdf/2301.08930","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5100338779","display_name":"Heng Li","orcid":"https://orcid.org/0000-0001-5143-5061"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Li, Heng","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101294804","display_name":"Xiaodong Gu","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Gu, Xiaodong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101966265","display_name":"Weihao Yuan","orcid":"https://orcid.org/0009-0006-8477-598X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yuan, Weihao","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5101193331","display_name":"Luwei Yang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Yang, Luwei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5019743637","display_name":"Zilong Dong","orcid":"https://orcid.org/0000-0002-6833-9102"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Dong, Zilong","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5100757137","display_name":"Ping Tan","orcid":"https://orcid.org/0000-0002-3327-5532"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Tan, Ping","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":0,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":10,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":1.0,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9997000098228455,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10627","display_name":"Advanced Image and Video Retrieval Techniques","score":0.9980000257492065,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/rgb-color-model","display_name":"RGB color model","score":0.7990412712097168},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.7879558801651001},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.7727144360542297},{"id":"https://openalex.org/keywords/simultaneous-localization-and-mapping","display_name":"Simultaneous localization and mapping","score":0.7570291757583618},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.70196133852005},{"id":"https://openalex.org/keywords/image-warping","display_name":"Image warping","score":0.5736483335494995},{"id":"https://openalex.org/keywords/feature","display_name":"Feature (linguistics)","score":0.5634363889694214},{"id":"https://openalex.org/keywords/representation","display_name":"Representation (politics)","score":0.5196929574012756},{"id":"https://openalex.org/keywords/matching","display_name":"Matching (statistics)","score":0.4625946879386902},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.22137945890426636},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.1493852734565735},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.11979714035987854}],"concepts":[{"id":"https://openalex.org/C82990744","wikidata":"https://www.wikidata.org/wiki/Q166194","display_name":"RGB color model","level":2,"score":0.7990412712097168},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.7879558801651001},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.7727144360542297},{"id":"https://openalex.org/C86369673","wikidata":"https://www.wikidata.org/wiki/Q1203659","display_name":"Simultaneous localization and mapping","level":4,"score":0.7570291757583618},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.70196133852005},{"id":"https://openalex.org/C157202957","wikidata":"https://www.wikidata.org/wiki/Q1659609","display_name":"Image warping","level":2,"score":0.5736483335494995},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.5634363889694214},{"id":"https://openalex.org/C2776359362","wikidata":"https://www.wikidata.org/wiki/Q2145286","display_name":"Representation (politics)","level":3,"score":0.5196929574012756},{"id":"https://openalex.org/C165064840","wikidata":"https://www.wikidata.org/wiki/Q1321061","display_name":"Matching (statistics)","level":2,"score":0.4625946879386902},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.22137945890426636},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.1493852734565735},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.11979714035987854},{"id":"https://openalex.org/C41895202","wikidata":"https://www.wikidata.org/wiki/Q8162","display_name":"Linguistics","level":1,"score":0.0},{"id":"https://openalex.org/C199539241","wikidata":"https://www.wikidata.org/wiki/Q7748","display_name":"Law","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0},{"id":"https://openalex.org/C94625758","wikidata":"https://www.wikidata.org/wiki/Q7163","display_name":"Politics","level":2,"score":0.0},{"id":"https://openalex.org/C17744445","wikidata":"https://www.wikidata.org/wiki/Q36442","display_name":"Political science","level":0,"score":0.0},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.0}],"mesh":[],"locations_count":3,"locations":[{"id":"pmh:oai:arXiv.org:2301.08930","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2301.08930","pdf_url":"https://arxiv.org/pdf/2301.08930","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},{"id":"pmh:oai:repository.hkust.edu.hk:1783.1-125076","is_oa":false,"landing_page_url":"http://repository.hkust.edu.hk/ir/Record/1783.1-125076","pdf_url":null,"source":{"id":"https://openalex.org/S4306401796","display_name":"Rare & Special e-Zone (The Hong Kong University of Science and Technology)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I200769079","host_organization_name":"Hong Kong University of Science and Technology","host_organization_lineage":["https://openalex.org/I200769079"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"Conference paper"},{"id":"doi:10.48550/arxiv.2301.08930","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2301.08930","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"Preprint"}],"best_oa_location":{"id":"pmh:oai:arXiv.org:2301.08930","is_oa":true,"landing_page_url":"http://arxiv.org/abs/2301.08930","pdf_url":"https://arxiv.org/pdf/2301.08930","source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":"2331-8422","issn":["2331-8422"],"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"text"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W1670332068","https://openalex.org/W2095618524","https://openalex.org/W2735770592","https://openalex.org/W1971024059","https://openalex.org/W1502062143","https://openalex.org/W4224236531","https://openalex.org/W4291993329","https://openalex.org/W2063177452","https://openalex.org/W2413982977","https://openalex.org/W2556215627"],"abstract_inverted_index":{"There":[0],"is":[1,157],"an":[2],"emerging":[3],"trend":[4],"of":[5,110],"using":[6],"neural":[7,40,86],"implicit":[8,41,61,87],"functions":[9],"for":[10],"map":[11,42,62,75,88],"representation":[12],"in":[13,107],"Simultaneous":[14],"Localization":[15],"and":[16,84,93,119,130,136,148],"Mapping":[17],"(SLAM).":[18],"Some":[19],"pioneer":[20],"works":[21],"have":[22],"achieved":[23],"encouraging":[24],"results":[25,144],"on":[26,126],"RGB-D":[27,137,153],"SLAM.":[28],"In":[29],"this":[30,46],"paper,":[31],"we":[32,52,100],"present":[33],"a":[34,54,103],"dense":[35],"RGB":[36,135],"SLAM":[37,138,154],"method":[38,78,125,141],"with":[39,133],"representation.":[43],"To":[44,97],"reach":[45],"challenging":[47],"goal":[48],"without":[49],"depth":[50],"input,":[51],"introduce":[53],"hierarchical":[55],"feature":[56],"volume":[57],"to":[58,73,113],"facilitate":[59,74,98],"the":[60,81,85,91,108,116],"decoder.":[63],"This":[64],"design":[65],"effectively":[66],"fuses":[67],"shape":[68],"cues":[69],"across":[70],"different":[71],"scales":[72],"reconstruction.":[76],"Our":[77,140],"simultaneously":[79],"solves":[80],"camera":[82,117],"motion":[83],"by":[89],"matching":[90],"rendered":[92],"input":[94],"video":[95],"frames.":[96],"optimization,":[99],"further":[101],"propose":[102],"photometric":[104],"warping":[105],"loss":[106],"spirit":[109],"multi-view":[111],"stereo":[112],"better":[114],"constrain":[115],"pose":[118],"scene":[120],"geometry.":[121],"We":[122],"evaluate":[123],"our":[124],"commonly":[127],"used":[128],"benchmarks":[129],"compare":[131],"it":[132],"modern":[134],"systems.":[139],"achieves":[142],"favorable":[143],"than":[145],"previous":[146],"methods":[147],"even":[149],"surpasses":[150],"some":[151],"recent":[152],"methods.The":[155],"code":[156],"at":[158],"poptree.github.io/DIM-SLAM/.":[159]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":1}],"updated_date":"2026-08-05T07:39:15.569665","created_date":"2025-10-10T00:00:00"}
