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PRBonn / SHINE_mapping

🌟 SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations (ICRA 2023)
MIT License
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octree issue #35

Closed whwh747 closed 4 months ago

whwh747 commented 4 months ago

Thank you for your excellent work. In an octree, does each node correspond to a voxel with voxel embeddings on all eight vertices, and is multiresolution achieved by connecting the embeddings of leaf nodes and their ancestor nodes?

StarryN commented 4 months ago

Hello @whwh747. Yes, you are right. We sum up the interpolated features from different voxel levels to fuse the multiresolution information. This is implemented by maintaining one hash table in each voxel level rather than searching in a tree structure.

whwh747 commented 4 months ago

i got it，thank you！