Classic robotics problem: reconstruct a scene by moving a camera about the room.
In practice, often boils down to a least squares inference problem, or more generally a Gaussian Belief propagation inference problem.
I am interested in a recent technique that combines implicit representation with SLAM (Zhu et al. 2022).
There are many cool tricks combined there — differentiable rendering etc. Hierarchical implicit representations.
Differentiable GPB solver (Jatavallabhula, Iyer, and Paull 2020).
ceres-solver, (C++), the google least squares solver, seems to solve this kind of problem. I am not sure where the covariance matrices go in. I occasionally see mention of “CUDA” in the source repo so maybe it exploits GPUs these days.
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