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eriksandstroem / Point-SLAM

Point-SLAM: Dense Neural Point Cloud-based SLAM

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blance of speed and accuracy

Drapandiger opened this issue · comments

commented

Hello, thanks for your amazing work you are doing. Is there any possible way to increase the mapping and tracking speed per frame, which could reduce accuracy.

commented

Happy to hear!

There are a few things that you can do. You can reduce the number of mapping iterations and the number of rays that are used per mapping iteration. You can also change this parameter: https://github.com/eriksandstroem/Point-SLAM/blob/main/configs/point_slam.yaml#L66 Check out the supplementary material for experiments with different values on the Replica dataset. We found that changing this on ScanNet and TUM was less stable.

Hope this helps!

commented

Thanks, it's really helpful!