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MUTE_SLAM
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MUTE_SLAM
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# MUTE-SLAM: Real-Time Neural SLAM with Multiple Tri-plane Hash Representations This repository is the official implementation of [MUTE-SLAM: Real-Time Neural SLAM with Multiple Tri-plane Hash Representations](https://arxiv.org/abs/2403.17765) ## Installation First you can create the environment and install the necessary dependencies. You can easily achieve this by using anaconda. ```bash # Create the environment conda env create -f environment.yaml conda activate mute_slam ``` We use the encoding from [torch-ngp](https://github.com/ashawkey/torch-ngp) by default, you can also use [tiny-cuda-nn](https://github.com/NVlabs/tiny-cuda-nn) as another option. To install tiny-cuda-nn, run: ```bash pip install git+https://github.com/NVlabs/tiny-cuda-nn/#subdirectory=bindings/torch cd tiny-cuda-nn/bindings/torch python setup.py install ``` ## Dataset ### Replica Download the data from Replica dataset as below: ```bash bash scripts/download_replica.sh ``` ### ScanNet Follow the instruction on [ScanNet](http://www.scan-net.org/), and extract color/depth frames from the `.sens` file using this [code](https://github.com/ScanNet/ScanNet/blob/master/SensReader/python/reader.py). ### TUM RGB-D Download the data from TUM RGB-D as below: ```bash bash scripts/download_tum.sh ``` ## Run You can run MUTE-SLAM with: ```bash python run.py configs/{Dataset}/{scene}.yaml ``` ## Evaluation ### Tracking To evaluate the tracking result, run: ```bash python src/tools/eval_ate.py configs/{Dataset}/{scene}.yaml ``` ### Reconstruction To evaluate the reconstruction results, download the ground truth Replica meshes first: ```bash bash scripts/download_replica_mesh.sh ``` Then cull the unseen and occluded regions from the ground truth meshes: ```bash GT_MESH=cull_replica_mesh/{scene}.ply python src/tools/cull_mesh.py configs/Replica/{scene}.yaml --input_mesh $GT_MESH ``` Finally, run the code below to evaluate the reconstructed mesh: ```bash OUTPUT_FOLDER=output/Replica/{scene} GT_MESH=cull_replica_mesh/{scene}_culled.ply python src/tools/eval_recon.py --rec_mesh $OUTPUT_FOLDER/mesh/final_mesh_eval_rec_culled.ply --gt_mesh $GT_MESH -2d -3d ```
