SDF-based RGB-D Camera Tracking in Neural Scene Representations

Leonard Bruns; Fereidoon Zangeneh; Patric Jensfelt

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arXiv · 2205.02079

SDF-based RGB-D Camera Tracking in Neural Scene Representations

Leonard Bruns·Fereidoon Zangeneh·Patric Jensfelt

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Abstract

We consider the problem of tracking the 6D pose of a moving RGB-D camera in a neural scene representation. Different such representations have recently emerged, and we investigate the suitability of them for the task of camera tracking. In particular, we propose to track an RGB-D camera using a signed distance field-based representation and show that compared to density-based representations, tracking can be sped up, which enables more robust and accurate pose estimates when computation time is limited.

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Leonard Bruns, Fereidoon Zangeneh, Patric Jensfelt. 2022-05-04. SDF-based RGB-D Camera Tracking in Neural Scene Representations. https://arxiv.org/abs/2205.02079

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