マルチスケール神経特徴場を用いた階層的姿勢推定とマッピング

原文アブストラクト

Robotic applications require a comprehensive understanding of the scene. In recent years, neural fields-based approaches that parameterize the entire environment have become popular. These approaches are promising due to their continuous nature and their ability to learn scene priors. However, the use of neural fields in robotics becomes challenging when dealing with unknown sensor poses and sequential measurements. This paper focuses on the problem of sensor pose estimation for large-scale neural implicit SLAM. We investigate implicit mapping from a probabilistic perspective and propose hierarchical pose estimation with a corresponding neural network architecture. Our method is well-suited for large-scale implicit map representations. The proposed approach operates on consecutive outdoor LiDAR scans and achieves accurate pose estimation, while maintaining stable mapping quality for both short and long trajectories. We built our method on a structured and sparse implicit representation suitable for large-scale reconstruction and evaluated it using the KITTI and MaiCity datasets. Our approach outperforms the baseline in terms of mapping with unknown poses and achieves state-of-the-art localization accuracy.