iDF-SLAM: End-to-End RGB-D SLAM with Neural Implicit Mapping and Deep Feature Tracking

Yuhang Ming, Weicai Ye, Andrew Calway

We propose a novel end-to-end RGB-D SLAM, iDF-SLAM, which adopts a feature-based deep neural tracker as the front-end and a NeRF-style neural implicit mapper as the back-end. The n…