NeuSE: Neural SE(3)-Equivariant Embedding for Long-Term Object-Based Simultaneous Localization and Mapping

arXiv:2303.07308 · cs.RO, cs.AI, cs.CV, cs.LG · Submitted 2023-03-13 · Read on arXiv

cs.RO, cs.AI, cs.CV, cs.LG

Submitted: 2023-03-13

Updated: 2026-10-13

Project page: https://neuse-slam.github.io/neuse/Abstract

Terminology

• Accuracy — 1× in this paper · explained in 1 episode
• Embeddings — 1× in this paper · explained in 2 episodes

Sources

• ShapeNet: An Information-Rich 3D Model Repository
• Local Neural Descriptor Fields: Locally Conditioned Object Representations for Manipulation
• Orbeez-SLAM: A Real-time Monocular Visual SLAM with ORB Features and NeRF-realized Mapping
• Coarse-to-Fine Point Cloud Registration with SE(3)-Equivariant Representations
• NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields
• Equivariant Descriptor Fields: SE(3)-Equivariant Energy-Based Models for End-to-End Visual Robotic Manipulation Learning
• ACID: Action-Conditional Implicit Visual Dynamics for Deformable Object Manipulation
• SE(3)-Equivariant Relational Rearrangement with Neural Descriptor Fields
• Open3D: A Modern Library for 3D Data Processing

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