Courses

Previous Next     / [pdf] View the PDF file here.

!This post is an introduction to SNI-SLAM from my “Academic Paper Writing” course. SNI-SLAM: Semantic Neural Implicit SLAM yulinJoseph 2024.10.12 Table of Contents 1. Prerequisites What are SLAM and NeRF? 2. Related Work Previous Approaches and (Dis)Advantages 3. Methodology Hierarchical Semantic Representation, Cross-Attention, Internal Fusion-Based Decoder and Feature Loss 4. Conclusion Performance and ? 01 Prerequisites SLAM: Simultaneous Localization and Mapping Two key tasks: Localization: Determining the precise position and orientation (such as x, y, z coordinates and the direction) of the robot or device in the environment in real-time. Mapping: Generating a real-time map of the environment surrounding the device, including the location and shape of obstacles in the environment. Main steps: Sensor Data Collection, Feature Extraction and Matching, Position Estimation and Map Construction, Loop Closure Detection 01 Prerequisites SLAM ...