DDN-SLAM: Real-time Dense Dynamic Neural Implicit SLAM

Introduction

The paper is available in https://arxiv.org/abs/2401.01545

DDN-SLAM is implemented with three open source projects

• Orbeez-SLAM (GPLv3 license)
• ORB-SLAM2 (GPLv3 license)
• instant-ngp (Nvidia Source Code License-NC)

License

This repo is GPLv3 Licensed.

How to build

1. Install yolo_ros
2. Please refer to BUILD.md

RUN on TUM

Please refer to TUM.md

RUN on Replica

Please refer to Replica.md

RUN on ScanNet

Please refer to ScanNet.md

RUN on a custom dataset

Please refer to Custom.md

Evaluation

Please refer to Eval.md

Acknowledgments

This work has been possible thanks to the open-source code from Orbeez-SLAM,ORB-SLAM2 and instant-ngp, as well as the open-source datasets Replica and TUM-dataset.