Neural Implicit Monocular Visual SLAM for 3D Reconstruction in Planetary Environments
The application of SLAM technology in planetary environments has become a research frontier for autonomous rovers. Existing visual SLAM methods often exhibit low accuracy in pose estimation and reconstruction due to poor feature extraction and mismatched correspondences. This paper introduces a nove...
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| Main Authors: | , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Copernicus Publications
2025-07-01
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| Series: | The International Archives of the Photogrammetry, Remote Sensing and Spatial Information Sciences |
| Online Access: | https://isprs-archives.copernicus.org/articles/XLVIII-G-2025/959/2025/isprs-archives-XLVIII-G-2025-959-2025.pdf |
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| Summary: | The application of SLAM technology in planetary environments has become a research frontier for autonomous rovers. Existing visual SLAM methods often exhibit low accuracy in pose estimation and reconstruction due to poor feature extraction and mismatched correspondences. This paper introduces a novel strategy that integrates neural implicit networks within a visual SLAM framework. By jointly optimizing camera poses and implicit scene representations using neural radiance fields, we achieve high-precision visual localization in the Mars scene without requiring loop closure. We validate our method using data from NASA’s Perseverance rover and compare its performance with OV<sup>2</sup>SLAM. The results demonstrate that our method significantly outperforms OV<sup>2</sup>SLAM in localization accuracy, achieving an 85.16% reduction in absolute trajectory errors and maintaining translation errors within 1 m across the entire trajectory. Moreover, our framework delivers compelling novel view synthesis despite sparse inputs and a fixed forward-facing viewpoint. The 3D point cloud models, synthesized from estimated depth maps and poses, further highlight the feasibility and effectiveness of our method for reconstruction in planetary environments. |
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| ISSN: | 1682-1750 2194-9034 |