期刊
2021 IEEE/CVF INTERNATIONAL CONFERENCE ON COMPUTER VISION (ICCV 2021)
卷 -, 期 -, 页码 15762-15772出版社
IEEE
DOI: 10.1109/ICCV48922.2021.01549
关键词
-
资金
- National Key Research and Development Program of China [2017YFB1002601]
- National Natural Science Foundation of China [61632003, 61771026]
This paper introduces a method called Continual Neural Mapping that enables continual learning of implicit scene representation directly from sequential observations, bridging the gap between batch-trained implicit neural representations and streaming data in robotics and vision communities. The proposed approach uses experience replay to approximate a continuous signed distance function from sequential depth images, showing that a single network can continually represent scene geometry over time without catastrophic forgetting, while maintaining a promising balance between accuracy and efficiency.
Recent advances have enabled a single neural network to serve as an implicit scene representation, establishing the mapping function between spatial coordinates and scene properties. In this paper, we make a further step towards continual learning of the implicit scene representation directly from sequential observations, namely Continual Neural Mapping. The proposed problem setting bridges the gap between batch-trained implicit neural representations and commonly used streaming data in robotics and vision communities. We introduce an experience replay approach to tackle an exemplary task of continual neural mapping: approximating a continuous signed distance function (SDF) from sequential depth images as a scene geometry representation. We show for the first time that a single network can represent scene geometry over time continually without catastrophic forgetting, while achieving promising tradeoffs between accuracy and efficiency.
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