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kxhit / vMAP

[CVPR 2023] vMAP: Vectorised Object Mapping for Neural Field SLAM
https://kxhit.github.io/vMAP
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About object mesh. #22

Closed zhaihongjia closed 6 months ago

zhaihongjia commented 8 months ago

How did you get the mesh for each object (for TSDF-Fusion and iMAP)?

kxhit commented 8 months ago

We use the GT bbox for each object and cut the global mesh to get the object-level mesh for iMAP as iMAP doesn't have object-level representation. For TSDF-Fusion, we use the object mask to build object-level reconstruction. Figure D in the appendix clearly shows what has been reconstructed at object level. Hope it makes sense.