-
Notifications
You must be signed in to change notification settings - Fork 0
/
indexnerfies.html
508 lines (474 loc) · 19.5 KB
/
indexnerfies.html
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="description"
content="SOS-SLAM: Segmentation for Open-Set SLAM in Unstructured Environments.">
<meta name="keywords" content="Nerfies, D-NeRF, NeRF">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>SOS-SLAM: Segmentation for Open-Set SLAM in Unstructured Environments</title>
<!-- Global site tag (gtag.js) - Google Analytics -->
<script async src="https://www.googletagmanager.com/gtag/js?id=G-PYVRSFMDRL"></script>
<script>
window.dataLayer = window.dataLayer || [];
function gtag() {
dataLayer.push(arguments);
}
gtag('js', new Date());
gtag('config', 'G-PYVRSFMDRL');
</script>
<link href="https://fonts.googleapis.com/css?family=Google+Sans|Noto+Sans|Castoro"
rel="stylesheet">
<link rel="stylesheet" href="./static/css/bulma.min.css">
<link rel="stylesheet" href="./static/css/bulma-carousel.min.css">
<link rel="stylesheet" href="./static/css/bulma-slider.min.css">
<link rel="stylesheet" href="./static/css/fontawesome.all.min.css">
<link rel="stylesheet"
href="https://cdn.jsdelivr.net/gh/jpswalsh/academicons@1/css/academicons.min.css">
<link rel="stylesheet" href="./static/css/index.css">
<link rel="icon" href="./static/images/favicon.svg">
<script src="https://ajax.googleapis.com/ajax/libs/jquery/3.5.1/jquery.min.js"></script>
<script defer src="./static/js/fontawesome.all.min.js"></script>
<script src="./static/js/bulma-carousel.min.js"></script>
<script src="./static/js/bulma-slider.min.js"></script>
<script src="./static/js/index.js"></script>
</head>
<body>
<!--
<nav class="navbar" role="navigation" aria-label="main navigation">
<div class="navbar-brand">
<a role="button" class="navbar-burger" aria-label="menu" aria-expanded="false">
<span aria-hidden="true"></span>
<span aria-hidden="true"></span>
<span aria-hidden="true"></span>
</a>
</div>
<div class="navbar-menu">
<div class="navbar-start" style="flex-grow: 1; justify-content: center;">
<a class="navbar-item" href="https://keunhong.com">
<span class="icon">
<i class="fas fa-home"></i>
</span>
</a>
<div class="navbar-item has-dropdown is-hoverable">
<a class="navbar-link">
More Research
</a>
<div class="navbar-dropdown">
<a class="navbar-item" href="https://hypernerf.github.io">
HyperNeRF
</a>
<a class="navbar-item" href="https://nerfies.github.io">
Nerfies
</a>
<a class="navbar-item" href="https://latentfusion.github.io">
LatentFusion
</a>
<a class="navbar-item" href="https://photoshape.github.io">
PhotoShape
</a>
</div>
</div>
</div>
</div>
</nav> -->
<section class="hero">
<div class="hero-body">
<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<h1 class="title is-1 publication-title">SOS-SLAM: Segmentation for Open-Set SLAM in Unstructured Environments</h1>
<div class="is-size-5 publication-authors">
<span class="author-block">
<a href=" https://www.linkedin.com/in/jouko-kinnari/">Jouko Kinnari</a><sup>*1</sup>,</span>
<span class="author-block">
<a href="https://annikathomas.com">Annika Thomas</a><sup>*2</sup>,</span>
<span class="author-block">
<a href="https://plusk01.github.io/">Parker Lusk</a><sup>2</sup>,
</span>
<span class="author-block">
<a href="https://www.linkedin.com/in/kkondo/?locale=en_US">Kota Kondo</a><sup>2</sup>,
</span>
<span class="author-block">
<a href="https://www.mit.edu/~jhow/">Jonathan How</a><sup>2</sup>,
</span>
</div>
<div class="is-size-5 publication-authors">
<span class="author-block"><sup>*</sup>Equal Contribution</span>
<span class="author-block"><sup>1</sup>Saab Finland,</span>
<span class="author-block"><sup>2</sup>Massachusetts Institute of Technology</span>
</div>
<div class="column has-text-centered">
<div class="publication-links">
<!-- PDF Link. -->
<span class="link-block">
<a href="https://arxiv.org/pdf/2011.12948"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Paper</span>
</a>
</span>
<span class="link-block">
<a href="https://arxiv.org/abs/2011.12948"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv</span>
</a>
</span>
<!-- Video Link. -->
<span class="link-block">
<a href="https://www.youtube.com/watch?v=MrKrnHhk8IA"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-youtube"></i>
</span>
<span>Video</span>
</a>
</span>
<!-- Code Link. -->
<span class="link-block">
<a href="https://github.com/google/nerfies"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fab fa-github"></i>
</span>
<span>Code</span>
</a>
</span>
<!-- Dataset Link. -->
<span class="link-block">
<a href="https://github.com/google/nerfies/releases/tag/0.1"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="far fa-images"></i>
</span>
<span>Data</span>
</a>
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<!-- <section class="hero teaser">
<div class="container is-max-desktop">
<div class="hero-body">
<video id="teaser" autoplay muted loop playsinline height="100%">
<source src="./static/videos/map.mp4"
type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
<span class="dnerf">SOS-SLAM</span> creates object-based map from segments
</h2>
</div>
</div>
</section> -->
<section class="hero teaser">
<div class="container is-max-desktop">
<div class="hero-body">
<!-- First Video -->
<div class="video-container">
<video id="teaser1" autoplay muted loop playsinline>
<source src="./static/videos/map.mp4" type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
<span class="dnerf">SOS-SLAM</span> creates object-based map from segments
</h2>
</div>
<!-- Second Video -->
<div class="video-container">
<video id="teaser2" autoplay muted loop playsinline>
<source src="./static/videos/mapsegs1.mp4" type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
<span class="dnerf">Another Description</span> for the second video
</h2>
</div>
</div>
</div>
</section>
<!--
<section class="hero is-light is-small">
<div class="hero-body">
<div class="container">
<div id="results-carousel" class="carousel results-carousel">
<div class="item item-steve">
<video poster="" id="steve" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/steve.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-chair-tp">
<video poster="" id="chair-tp" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/chair-tp.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-shiba">
<video poster="" id="shiba" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/shiba.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-fullbody">
<video poster="" id="fullbody" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/fullbody.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-blueshirt">
<video poster="" id="blueshirt" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/blueshirt.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-mask">
<video poster="" id="mask" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/mask.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-coffee">
<video poster="" id="coffee" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/coffee.mp4"
type="video/mp4">
</video>
</div>
<div class="item item-toby">
<video poster="" id="toby" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/toby2.mp4"
type="video/mp4">
</video>
</div>
</div>
</div>
</div>
</section>
-->
<section class="section">
<div class="container is-max-desktop">
<!-- Abstract. -->
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>
We present a novel framework for open-set Simultaneous Localization and Mapping (SLAM) in unstructured environments that uses segmentation to create a map of objects
and geometric relationships between objects for localization.
Our system consists of 1) a front-end mapping pipeline using
a zero-shot segmentation model to extract object masks from
images and track them across frames to generate an object-
based map and 2) a frame alignment pipeline that uses the
geometric consistency of objects to efficiently localize within
maps taken in a variety of conditions. This approach is shown
to be more robust to changes in lighting and appearance than
traditional feature-based SLAM systems or global descriptor
methods. This is established by evaluating SOS-SLAM on the
B ̊atvik seasonal dataset which includes drone flights collected
over a coastal plot of southern Finland during different seasons and lighting conditions. Across flights during the same
lighting and environmental conditions, our approach achieves
2-3 times higher recall than benchmark methods with preci-
sion of 1.0. SOS-SLAM localizes within a reference map up
to 16x faster than other feature-based approaches and has a
map size less than 0.4% the size of the most compact other
maps. When considering localization performance from varying viewpoints, our approach outperforms all benchmarks
from the same viewpoint and most benchmarks from different viewpoints. SOS-SLAM is a promising new approach for
SLAM in unstructured environments that is robust to changes in lighting and appearance and is more computationally
efficient than other approaches.
</p>
</div>
</div>
</div>
<!--/ Abstract. -->
<section class="hero teaser">
<div class="container is-max-desktop">
<div class="hero-body">
<!-- First Video -->
<div class="video-container">
<h2 class="title is-3">Batvik Seasonal Dataset</h2>
<video id="teaser1" autoplay muted loop playsinline>
<source src="./static/videos/combined_compressed.mp4" type="video/mp4">
</video>
<h2 class="subtitle has-text-centered">
<span class="dnerf">SOS-SLAM</span> creates object-based map from segments
</h2>
</div>
</div>
</div>
</section>
<!--
<section class="section">
<div class="container is-max-desktop">
<div class="columns is-centered">
<!-- Visual Effects. -->
<div class="column">
<div class="content">
<h2 class="title is-3">Visual Effects</h2>
<p>
Using <i>nerfies</i> you can create fun visual effects. This Dolly zoom effect
would be impossible without nerfies since it would require going through a wall.
</p>
<video id="dollyzoom" autoplay controls muted loop playsinline height="100%">
<source src="./static/videos/dollyzoom-stacked.mp4"
type="video/mp4">
</video>
</div>
</div>
<!--/ Visual Effects. -->
<!-- Matting. -->
<div class="column">
<h2 class="title is-3">Matting</h2>
<div class="columns is-centered">
<div class="column content">
<p>
As a byproduct of our method, we can also solve the matting problem by ignoring
samples that fall outside of a bounding box during rendering.
</p>
<video id="matting-video" controls playsinline height="100%">
<source src="./static/videos/matting.mp4"
type="video/mp4">
</video>
</div>
</div>
</div>
</div>
<!--/ Matting. -->
-->
<!-- Animation. -->
<!-- <div class="columns is-centered">
<div class="column is-full-width">
<h2 class="title is-3">Animation</h2>
<!-- Interpolating. -->
<h3 class="title is-4">Interpolating states</h3>
<div class="content has-text-justified">
<p>
We can also animate the scene by interpolating the deformation latent codes of two input
frames. Use the slider here to linearly interpolate between the left frame and the right
frame.
</p>
</div>
<div class="columns is-vcentered interpolation-panel">
<div class="column is-3 has-text-centered">
<img src="./static/images/interpolate_start.jpg"
class="interpolation-image"
alt="Interpolate start reference image."/>
<p>Start Frame</p>
</div>
<div class="column interpolation-video-column">
<div id="interpolation-image-wrapper">
Loading...
</div>
<input class="slider is-fullwidth is-large is-info"
id="interpolation-slider"
step="1" min="0" max="100" value="0" type="range">
</div>
<div class="column is-3 has-text-centered">
<img src="./static/images/interpolate_end.jpg"
class="interpolation-image"
alt="Interpolation end reference image."/>
<p class="is-bold">End Frame</p>
</div>
</div>
<br/> -->
<!--/ Interpolating. -->
<!-- Re-rendering. -->
<!-- <h3 class="title is-4">Re-rendering the input video</h3>
<div class="content has-text-justified">
<p>
Using <span class="dnerf">Nerfies</span>, you can re-render a video from a novel
viewpoint such as a stabilized camera by playing back the training deformations.
</p>
</div>
<div class="content has-text-centered">
<video id="replay-video"
controls
muted
preload
playsinline
width="75%">
<source src="./static/videos/replay.mp4"
type="video/mp4">
</video>
</div>
<!--/ Re-rendering. -->
</div>
</div> -->
<!--/ Animation. -->
<!-- Concurrent Work. -->
<!-- <div class="columns is-centered">
<div class="column is-full-width">
<h2 class="title is-3">Related Links</h2>
<div class="content has-text-justified">
<p>
There's a lot of excellent work that was introduced around the same time as ours.
</p>
<p>
<a href="https://arxiv.org/abs/2104.09125">Progressive Encoding for Neural Optimization</a> introduces an idea similar to our windowed position encoding for coarse-to-fine optimization.
</p>
<p>
<a href="https://www.albertpumarola.com/research/D-NeRF/index.html">D-NeRF</a> and <a href="https://gvv.mpi-inf.mpg.de/projects/nonrigid_nerf/">NR-NeRF</a>
both use deformation fields to model non-rigid scenes.
</p>
<p>
Some works model videos with a NeRF by directly modulating the density, such as <a href="https://video-nerf.github.io/">Video-NeRF</a>, <a href="https://www.cs.cornell.edu/~zl548/NSFF/">NSFF</a>, and <a href="https://neural-3d-video.github.io/">DyNeRF</a>
</p>
<p>
There are probably many more by the time you are reading this. Check out <a href="https://dellaert.github.io/NeRF/">Frank Dellart's survey on recent NeRF papers</a>, and <a href="https://github.com/yenchenlin/awesome-NeRF">Yen-Chen Lin's curated list of NeRF papers</a>.
</p>
</div>
</div>
</div> -->
<!--/ Concurrent Work. -->
<!--
</div>
</section>
-->
<section class="section" id="BibTeX">
<div class="container is-max-desktop content">
<h2 class="title">BibTeX</h2>
<pre><code>@article{park2021nerfies,
author = {Park, Keunhong and Sinha, Utkarsh and Barron, Jonathan T. and Bouaziz, Sofien and Goldman, Dan B and Seitz, Steven M. and Martin-Brualla, Ricardo},
title = {Nerfies: Deformable Neural Radiance Fields},
journal = {ICCV},
year = {2021},
}</code></pre>
</div>
</section>
<footer class="footer">
<div class="container">
<div class="content has-text-centered">
<a class="icon-link"
href="./static/videos/nerfies_paper.pdf">
<i class="fas fa-file-pdf"></i>
</a>
<a class="icon-link" href="https://github.com/keunhong" class="external-link" disabled>
<i class="fab fa-github"></i>
</a>
</div>
<div class="columns is-centered">
<div class="column is-8">
<div class="content">
<p>
This website is licensed under a <a rel="license"
href="http://creativecommons.org/licenses/by-sa/4.0/">Creative
Commons Attribution-ShareAlike 4.0 International License</a>.
</p>
<p>
This means you are free to borrow the <a
href="https://github.com/nerfies/nerfies.github.io">source code</a> of this website,
we just ask that you link back to this page in the footer.
Please remember to remove the analytics code included in the header of the website which
you do not want on your website.
</p>
</div>
</div>
</div>
</div>
</footer>
</body>
</html>