NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAM

Neural implicit representations have recently become popular in simultaneous localization and mapping (SLAM), especially in dense visual SLAM. However, existing works either rely on RGB-D sensors or require a separate monocular SLAM approach for camera tracking, and fail to produce high-fidelity 3D dense reconstructions. To address these shortcomings, we present NICER-SLAM, a dense RGB SLAM system that simultaneously optimizes for camera poses and a hierarchical neural implicit map representation, which also allows for high-quality novel view synthesis. To facilitate the optimization process for mapping, we integrate additional supervision signals including easy-to-obtain monocular geometric cues and optical…