Papers › iMAP: Implicit Mapping and Positioning in Real-Time

iMAP: Implicit Mapping and Positioning in Real-Time

23 Mar 2021ICCV 2021 10arXiv:2103.12352archive 2025-07-28

Edgar Sucar, Shikun Liu, Joseph Ortiz, Andrew J. Davison

We show for the first time that a multilayer perceptron (MLP) can serve as the only scene representation in a real-time SLAM system for a handheld RGB-D camera. Our network is trained in live operation without prior data, building a dense, scene-specific implicit 3D model of occupancy and colour which is also immediately used for tracking. Achieving real-time SLAM via continual training of a neural network against a live image stream requires significant innovation. Our iMAP algorithm uses a keyframe structure and multi-processing computation flow, with dynamic information-guided pixel sampling for speed, with tracking at 10 Hz and global map updating at 2 Hz. The advantages of an implicit MLP over standard dense SLAM techniques include efficient geometry representation with automatic detail control and smooth, plausible filling-in of unobserved regions such as the back surfaces of objects.

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