SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations (2210.02299v3)

Abstract: Accurate mapping of large-scale environments is an essential building block of most outdoor autonomous systems. Challenges of traditional mapping methods include the balance between memory consumption and mapping accuracy. This paper addresses the problem of achieving large-scale 3D reconstruction using implicit representations built from 3D LiDAR measurements. We learn and store implicit features through an octree-based, hierarchical structure, which is sparse and extensible. The implicit features can be turned into signed distance values through a shallow neural network. We leverage binary cross entropy loss to optimize the local features with the 3D measurements as supervision. Based on our implicit representation, we design an incremental mapping system with regularization to tackle the issue of forgetting in continual learning. Our experiments show that our 3D reconstructions are more accurate, complete, and memory-efficient than current state-of-the-art 3D mapping methods.

• The paper introduces sparse hierarchical implicit neural representations to efficiently model large-scale 3D environments.
• It leverages a novel neural architecture that reduces memory footprint while preserving mapping accuracy.
• Experimental results validate the method’s scalability and robustness across diverse real-world scenarios.

Overview of the IPB Style Guide for Academic Paper Formatting

The paper authored by Jens Behley and Cyrill Stachniss titled "How to Format a Paper that Reviewers Will Love -- The IPB Style Guide" serves as a comprehensive resource for researchers aiming to adhere to the distinctive formatting standards of the IPB. The document outlines an assortment of guidelines intended to streamline the submission process, ensuring both consistency and readability in academic manuscripts. This endeavor reflects the authors' recognition of the fundamental importance of a well-structured and meticulously formatted paper in the peer-review process.

Main Contributions and Guidelines

The authors stipulate several foundational principles and actionable recommendations, which include:

• Paper Structure: A stringent adherence to a predefined structure is mandated, cautioning against deviations. This structure is intended to maintain uniformity across submissions.
• Content Length: Complying with conference-imposed page limits is emphasized. Authors are discouraged from submitting papers that exceed or fall short of these limits unless explicitly permitted.
• Use of Abbreviations and Citations: The guide advises judicious use of abbreviations, requiring definitions upon first usage. Additionally, citations should enhance readability by being seamlessly integrated into narrative sentences.
• Capitalization and Formatting: The paper provides detailed instructions on capitalization rules specific to headings, titles, and plot legends. The usage of italics is restricted to special emphasis, while non-breaking spaces are recommended for specific contexts, such as before formulas and citations.
• Figures and Tables: Authors are advised on best practices for figure placement, consistent font size, and caption descriptiveness. The use of the booktabs package is recommended to enhance table aesthetics.
• References: A significant focus is placed on the proper formatting and organization of bibliographic references. Authors are encouraged to maintain a consistent style using a master bib file, favoring abbreviated name formats and consistent proceedings styles.

Implications and Future Directions

The style guide has practical implications for the standardization of academic papers, particularly within the context of the IPB. By adhering to these guidelines, authors can arguably improve the initial perception of their work, potentially influencing the outcome of peer review. The structured approach to formatting facilitates easier review and comprehension, which may indirectly impact acceptance rates.

Looking forward, these principles may extend beyond the IPB, influencing broader conferences and journals to adopt similar standards. As the academic community increasingly values reproducibility and clarity, such structured formatting guidance becomes ever more critical. It may spur future developments wherein style compliance tools are integrated into the manuscript preparation process.

In summary, the paper by Behley and Stachniss provides an essential framework for researchers to produce consistently formatted submissions, thereby contributing to the rigorous standards expected in scholarly communications.