NF-Atlas: Multi-Volume Neural Feature Fields for Large Scale LiDAR Mapping

摘要

LiDAR Mapping has been a long-standing problem in robotics. Recent progress in neural implicit representation has brought new opportunities to robotic mapping. In this letter, we propose the multi-volume neural feature fields, called NF-Atlas, which bridge the neural feature volumes with pose graph optimization. By regarding the neural feature volume as pose graph nodes and the relative pose between volumes as pose graph edges, the entire neural feature field becomes both <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">locally rigid</i> and <italic xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">globally elastic</i> . Locally, the neural feature volume employs a sparse feature Octree and a small MLP to encode the signed distance function (SDF) of the submap with an option of semantics. Learning the map using this structure allows for end-to-end solving of maximum a posteriori (MAP) based probabilistic mapping. Globally, the map is built volume by volume independently, avoiding catastrophic forgetting when mapping incrementally. Furthermore, when a loop closure occurs, with the elastic pose graph based representation, only updating the origin of neural volumes is required without remapping. Finally, these functionalities of NF-Atlas are validated. Thanks to the sparsity and the optimization based formulation, NF-Atlas shows competitive performance in terms of accuracy, efficiency and memory usage on both simulation and real-world datasets.