NeRF-Based-SLAM-Incredible-Insights

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NeRF-Based-SLAM-Incredible-Insights

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# NeRF-Based-SLAM-Incredible-Insights
English Style/[Chinese Style](./README_CN.md)
## Project Overview
Welcome to the **"NeRF-Based-SLAM-Incredible-Insights"** repository. This project aims to provide comprehensive insights into various NeRF (Neural Radiance Fields) based Slam (Simultaneous Localization and Mapping) algorithms. If you're enthusiastic about NeRF-based Slam algorithms and wish to delve deep into their functionality and codebase, you're in the right place.

If you find this repository useful, please consider **[CITING](#citation) and STARING** this project. Feel free to share this project with others!

## Contents

This repository encompasses:

1. **Detailed documentation** on a variety of NeRF-based Slam algorithms, elucidating their fundamental principles and algorithmic workflows, such as every [Paper Insights] and [Code Notes] and [Tracking Insights] in [Visual SLAM Insights](#visual-slam-insights) and [Lidar SLAM Insights](#lidar-slam-insights).
2. **Code annotations** for selected NeRF-based Slam algorithms to facilitate comprehension of their code implementation, such as [Co-SLAM_Scene_Representation_Noted](./Co-SLAM_Scene_Representation_Noted/) and [Co-SLAM_Tracking_Noted](./Co-SLAM_Tracking_Noted/).
3. More **analysis videos** links are displayed below in [video link](#video-link).

## Visual SLAM Insights
* **NeRF**: Representing Scenes as Neural Radiance Fields for View Synthesis, ECCV, 2020. [[Paper Insights](./1.Nerf开篇论文解读%20.pdf)]  [[Paper](https://arxiv.org/pdf/2003.08934.pdf)] [[Tensorflow Code](https://github.com/bmild/nerf)] [[Webpage](http://tancik.com/nerf)] [[Video](https://www.youtube.com/watch?v=JuH79E8rdKc)] 
* **NICE-SLAM**: Neural Implicit Scalable Encoding for SLAM, CVPR, 2021. [[Code Notes](5.NICE-SLAM源码阅读笔记.pdf)] [[Tracking Insights](./6.NICE-SLAM跟踪代码解析和扩展内容.pdf)] [[Mapping Insights](./7.NICE-SLAM_Mapping.pdf)]  [[Paper](https://arxiv.org/abs/2112.12130)] [[Code](https://github.com/cvg/nice-slam)] [[Website](https://pengsongyou.github.io/nice-slam?utm_source=catalyzex.com)]
* **iMap**: Implicit Mapping and Positioning in Real-Time, ICCV, 2021. [[Paper Insights](./2.iMap解读.pdf)] [[Paper](https://arxiv.org/abs/2103.12352)] [[Website](https://edgarsucar.github.io/iMAP/)] [[Video](https://www.youtube.com/watch?v=c-zkKGArl5Y)]
*  **NICER-SLAM**: Neural Implicit Scene Encoding for RGB SLAM, arXiv, 2023. [[Paper Insights](./4.NICER-SLAM论文解读.pdf)]   [[Paper](https://arxiv.org/pdf/2302.03594.pdf)] [[Video](https://www.youtube.com/watch?v=tUXzqEZWg2w)]
*  **Co-SLAM**: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAM, CVPR, 2023. [[Mapping Insights](./10.Co-SLAM_Mapping.pdf)]  [[Paper](https://arxiv.org/pdf/2304.14377.pdf)] [[Website](https://hengyiwang.github.io/projects/CoSLAM)]
* **NeRF-SLAM**: Real-Time Dense Monocular SLAM with Neural Radiance Fields, arXiv, 2022. [[Paper Insights](./13.NeRF-SLAM论文框架梳理_Real-Time%20Dense%20Monocular%20SLAM%20with%20Neural%20Radiance%20Fields.pdf)]  [[Problem Record](./14-15.Nerf-Slam实践问题记录.docx)]     [[Paper](https://arxiv.org/pdf/2210.13641.pdf)] [[Pytorch Code](https://github.com/ToniRV/NeRF-SLAM)] [[Video](https://www.youtube.com/watch?v=-6ufRJugcEU)]
*  **vMAP**: Vectorised Object Mapping for Neural Field SLAM, CVPR,  2023. [[Paper Insights](./16.vMAP%20Vectorised%20Object%20Mapping%20for%20Neural%20Field%20SLAM.html)]  [[Paper](https://arxiv.org/pdf/2302.01838.pdf)] [[Website](https://kxhit.github.io/vMAP)] [[Pytorch Code](https://github.com/kxhit/vMAP)] [[Video](https://kxhit.github.io/media/vMAP/vmap_raw.mp4)]
*  **RO-MAP**: Real-Time Multi-Object Mapping with Neural Radiance Fields, RAL, 2023. [[Paper Insights](./18.RO-MAP%20Real-Time%20Multi-Object%20Mapping%20with%20Neural.html)]   [[Paper](https://ieeexplore.ieee.org/document/10209177)] [[Code](https://github.com/XiaoHan-Git/RO-MAP)] [[Video](https://www.youtube.com/watch?v=sFrLXPw40wU)]
*  Neural Implicit Dense Semantic SLAM, arXiv, 2023. [[Paper Insights](./17.Neural%20Implicit%20Dense%20Semantic%20SLAM.md)]   [[Paper](https://arxiv.org/pdf/2304.14560.pdf)]

## Lidar SLAM Insights
- Efficient Implicit Neural Reconstruction Using LiDAR, ICRA, 2023. [[Paper Insights](./19.Efficient%20Implicit%20Neural%20Reconstruction%20Using%20LiDAR论文框架梳理.pdf)]  [[Paper](https://arxiv.org/pdf/2302.14363.pdf)] [[Website](http://starydy.xyz/EINRUL/)] [[Pytorch Code](https://github.com/StarRealMan/EINRUL)] [[Video](https://www.youtube.com/watch?v=wUp2I-X-IdI)]
- **NeRF-LOAM**: Neural Implicit Representation for Large-Scale Incremental LiDAR Odometry and Mapping, ICCV, 2023. [[Paper Insights](./12.基于Lidar的NeRF-LOAM论文解读.pdf)]    [[Paper](https://arxiv.org/pdf/2303.10709.pdf)] [[Code](https://github.com/JunyuanDeng/NeRF-LOAM)]

## Video Link

* [[第01讲 田宇博-NeRF开篇论文解读 NeRF](https://t.zsxq.com/13Rdok77J)]
* [[第02讲 田宇博-第一个稠密的实时NeRF SLAM iMAP论文解读](https://t.zsxq.com/13NT9SrVd)]
* [[第03讲 刘权祥-NICE SLAM论文解读](https://t.zsxq.com/13p6PzgGA)]
* [[第04讲 NICER SLAM论文解读](https://t.zsxq.com/133LIwane)]
* [[第05讲（上）-刘权祥-NICE SLAM代码解读：整体代码框架及运行：跟踪](https://t.zsxq.com/13Mjh18d9)]
* [[第05讲（下）-刘权祥-NICE SLAM代码解读：整体代码框架及运行：跟踪](https://t.zsxq.com/13pr1Ka69)]
* [[第06讲（上）-汪寿安-NICE SLAM代码解读](https://t.zsxq.com/13EWNTdeZ)]
* [[第06讲（下）-汪寿安-NICE SLAM代码解读](https://t.zsxq.com/13cDZxv3a)]
* [[第07讲 NICE SLAM代码解读：建图](https://t.zsxq.com/13ZeZgo36)]
* [[第08讲 钟至德-Co-SLAM论文解读](https://t.zsxq.com/13yYcc3yp)]
* [[第09讲 徐扬-Co-SLAM 代码解读：tracking](https://t.zsxq.com/13MHRa6rH)]
* [[第10讲 Co-SLAM 代码解读：mapping](https://t.zsxq.com/13N9RJVaj)]
* [[第11讲 张一 Co-SLAM 代码解读：Scene representation](https://t.zsxq.com/13WlZnCY1)]
* [[第12讲（上）-汪寿安-基于LiDAR的NeRF-LOAM论文解读](https://t.zsxq.com/13BnX2HN4)]
* [[第12讲（中）-汪寿安-基于LiDAR的NeRF-LOAM论文解读](https://t.zsxq.com/13Lrj9ECe)]
* [[第12讲（下）-汪寿安-基于LiDAR的NeRF-LOAM论文解读](https://t.zsxq.com/13nImsTqq)]
* [[第13讲 张一 NeRF-SLAM 论文框架梳理](https://t.zsxq.com/13iv6vYgR)]
* [[第14-15讲 陈安东 NeRF-SLAM 运行配置经验](https://t.zsxq.com/13rkfR21n)]
* [[第16讲-夏宁宁-物体级vMAP 论文解读](https://t.zsxq.com/13Sl2SAPy)]
* [[第17讲-徐扬-语义Neural Implicit Dense Semantic SLAM 论文解读](https://t.zsxq.com/13MtOSTLz)]
* [[第18讲-夏宁宁-实时多物体RO-MAP 论文解读](https://t.zsxq.com/13fVUbp2w)]
* [[第19讲-基于LiDAR的Efficient Implicit Neural Reconstruction Using LiDAR 论文解读](https://t.zsxq.com/13Ofplkrr)]
* [[第20讲-LiDAR全局定位 IRMCL Implicit Representation-based Online Global Localization论文解读](https://t.zsxq.com/13kYwivPD)]

zsxq members have video viewing rights

![zsxq](https://raw.githubusercontent.com/electech6/NeRF-Based-SLAM-Incredible-Insights/main/images/Life_Planet.JPG)

## Acknowledgments

This project comes from the "Nerf Based SLAM Algorithm Learning Group" of [CVLIFE](https://cvlife.net). The contributing members include (in no particular order):

Tian Yubo, Liu Quanxiang, Shi Hui, Wang Shouan, Wan Jingyi, Zhong Zhide, Xu Yang, Zhang Yi, Chen Andong, Xia Ningning

## Citation
```
@misc{electron2023nerfbasedslamincredibleinsights,
    title = {NeRF-Based-SLAM-Incredible-Insights},
    author = {electron6,shuttworth},
    journal = {GitHub repository},
    url = {https://github.com/electech6/NeRF-Based-SLAM-Incredible-Insights},
    year = {2023}
}
```

## Star History

[![Star History Chart](https://api.star-history.com/svg?repos=electech6/NeRF-Based-SLAM-Incredible-Insights&type=Date)](https://star-history.com/#electech6/NeRF-Based-SLAM-Incredible-Insights&Date)

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