awesome-Implicit-NeRF-SLAM

This repo contains a curative list of Implicit Representations and NeRF papers relating to SLAM/Robotics domain, inspired by Awesome-Implicit-NeRF-Robotics

Please feel free to send me pull requests or email to add papers!

If you find this repository useful, please consider citing and STARing this list. Feel free to share this list with others!

For an overview of NeRFs, checkout the Survey (Neural Volume Rendering: NeRF And Beyond and NeRF: Neural Radiance Field in 3D Vision, A Comprehensive Review), Blog post (NeRF Explosion 2020) and Collection (awesome-NeRF)

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Overview

• NeRF General Model

• SLAM

  • Visual SLAM
  • Lidar SLAM

• Robotics

  • Manipulation/RL

  • Planning/Navigation

• Citation

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NeRF General Model

• NeRF: Representing Scenes as Neural Radiance Fields for View Synthesis, ECCV, 2020. [Paper] [Tensorflow Code] [Webpage] [Video]

• ShAPO: Implicit Representations for Multi Object Shape Appearance and Pose Optimization, ECCV, 2022. [Paper] [Pytorch Code] [Webpage] [Video]
• NCF: Neural Correspondence Field for Object Pose Estimation, ECCV, 2022. [Paper] [Pytorch Code] [Webpage]
• Neural-Sim: Learning to Generate Training Data with NeRF, ECCV 2022. [Paper] [Pytorch Code] [Webpage]
• SNAKE: SNAKE: Shape-aware Neural 3D Keypoint Field, NeurIPS, 2022. [Paper] [Pytorch Code]
• NeRF-RPN: A general framework for object detection in NeRFs, arXiv, 2022. [Paper] [Video]
• nerf2nerf: Pairwise Registration of Neural Radiance Fields, arXiv, 2022. [Paper] [Pytorch Code] [Webpage] [Dataset]
• iNeRF: Inverting Neural Radiance Fields for Pose Estimation, IROS, 2021. [Paper] [Pytorch Code] [Website] [Dataset]

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SLAM

Visual-SLAM

• iSDF: Real-Time Neural Signed Distance Fields for Robot Perception, RSS, 2022. [Paper] [Pytorch Code] [Website]
• LENS: LENS: Localization enhanced by NeRF synthesis, CoRL, 2021. [Paper]
• NICE-SLAM: Neural Implicit Scalable Encoding for SLAM, CVPR, 2021. [Paper] [Pytorch Code] [Website]
• iMAP: "Implicit Mapping and Positioning in Real-Time", ICCV, 2021. [Paper] [Website]
• BNV-Fusion: BNV-Fusion: Dense 3D Reconstruction using Bi-level Neural Volume Fusion, CVPR, 2022. [Paper] [Pytorch Code]
• NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields, arXiv, 2022. [Paper]
• Nerfels: Renderable Neural Codes for Improved Camera Pose Estimation, CVPR 2022 Workshop. [Paper]
• SDF-based RGB-D Camera Tracking in Neural Scene Representations, ICRA Workshop, 2022. [Paper]
• Orbeez-SLAM: A Real-time Monocular Visual SLAM with ORB Features and NeRF-realized Mapping, arXiv, 2022. [Paper]
• ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fields, arXiv, 2022. [Paper]
• Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representation, ISMAR, 2022. [Paper] [Website] [Video]
• Visual-Inertial Odometry Priors for Bundle-Adjusting Neural Radiance Fields, ICCAS, 2022. [Paper]
• Feature-Realistic Neural Fusion for Real-Time, Open Set Scene Understanding, arXiv, 2022. [Paper] [Website] [Pytorch Code] [Video]
• Towards Open World NeRF-Based SLAM, arXiv, 2023. [Paper]
• Dense RGB SLAM with Neural Implicit Maps, ICLR, 2023. [Paper]\
• vMAP: Vectorised Object Mapping for Neural Field SLAM, arXiv, 2023. [Paper] [Website] [Pytorch Code] [Video]
• NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAM, arXiv, 2023. [Paper] [Video]

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Lidar-SLAM

• SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations, arXiv, 2022. [Paper] [Code]
• IRMCL: Implicit Representation-based Online Global Localization, arXiv, 2022. [Paper] [Code]

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Robotics

Manipulation/RL

• Ditto: Building Digital Twins of Articulated Objects from Interaction, CVPR, 2022. [Paper] [Pytorch Code] [Website]

• Relational-NDF:SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields, CoRL 2022. [Paper] [Pytorch Code] [Website]

• Neural Descriptor Fields:SE(3)-Equivariant Object Representations for Manipulation, icra, 2022. [Paper] [Pytorch Code] [Website]

• NeRF-RL: Reinforcement Learning with Neural Radiance Fields, arXiv, 2022. [Paper] [Website]

• Neural Motion Fields: Encoding Grasp Trajectories as Implicit Value Functions, RSS 2022. [Paper] [Video]

• Grasping Field: Learning Implicit Representations for Human Grasps, 3DV 2020. [Paper] [Pytorch Code] [Video]

• Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects, CoRL, 2021. [Paper] [Website]

• NeRF-Supervision: Learning Dense Object Descriptors from Neural Radiance Fields, ICRA, 2022. [Paper] [Pytorch Code] [Website]

• GIGA: Synergies Between Affordance and Geometry: 6-DoF Grasp Detection via Implicit Representations, RSS, 2021. [Paper] [Pytorch Code] [Website]

• NeuralGrasps: Learning Implicit Representations for Grasps of Multiple Robotic Hands, CoRL, 2022. [Paper] [Website]

• ObjectFolder: A Dataset of Objects with Implicit Visual, Auditory, and Tactile Representations, CoRL, 2021. [Paper] [Pytorch Code] [Website]

• ObjectFolder 2.0: A Multisensory Object Dataset for Sim2Real Transfer, CVPR, 2022. [Paper] [Pytorch Code] [Website]

• NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fields, arXiv, 2022. [Paper] [Website]

• NiFR: Neural Fields for Robotic Object Manipulation from a Single Image, arXiv, 2022. [Paper]

• Local Neural Descriptor Fields: Locally Conditioned Object Representations for Manipulation, ICRA, 2023. [Paper] [Code] [Website]

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Planning/Navigation

• NeRFlow: Neural Radiance Flow for 4D View Synthesis and Video Processing, ICCV, 2021. [Paper] [Pytorch Code] [Website]

• NeRF-Navigation: Vision-Only Robot Navigation in a Neural Radiance World, ICRA, 2022. [Paper] [Pytorch Code] [Website]

• Uncertainty Guided Policy for Active Robotic 3D Reconstruction using Neural Radiance Fields, RAL, 2022. [Paper] [Website]

• NeRF-dy: 3D Neural Scene Representations for Visuomotor Control, CoRL, 2021. [Paper] [Website]

• CompNeRFdyn: Learning Multi-Object Dynamics with Compositional Neural Radiance Fields, arXiv, 2022. [Paper] [Website]

• PIFO: Deep Visual Constraints: Neural Implicit Models for Manipulation Planning from Visual Input, RAL, 2022. [Paper] [Website]

• RedSDF: Regularized Deep Signed Distance Fields for Reactive Motion Generation, arXiv, 2022. [Paper] [Website]

• ESDF: Sampling-free obstacle gradients and reactive planning in Neural Radiance Fields, arXiv, 2022. [Paper]

• Full-Body Visual Self-Modeling of Robot Morphologies, Science Robotics, 2022. [Paper] [Pytorch Code] [Website]

• CLIP-Fields: Open-label semantic navigation with pre-trained VLMs and language models, arxiv, 2022. [Paper] [Pytorch Code and Tutorials] [Website]

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Citation

If you find this repository useful, please consider citing this list:

@misc{doong2022implicitnerfslampaperlist,
    title = {awesome-Implicit-NeRF-SLAM},
    author = {Doong Li},
    journal = {GitHub repository},
    url = {https://github.com/DoongLi/awesome-Implicit-NeRF-SLAM},
    year = {2022},
}