# NICE-SLAM with Adaptive Feature Grids

arXiv: https://arxiv.org/abs/2306.02395 · HTML: https://mlsanity.com/paper/2306.02395/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 5 of its 7 references that are in the map.
- First posted on arXiv 4 Jun 2023.

## Builds on (most cited first, 5 of 5)

- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [The Replica Dataset: A Digital Replica of Indoor Spaces](https://mlsanity.com/paper/1906.05797/) (2019)
- [NICE-SLAM: Neural Implicit Scalable Encoding for SLAM](https://mlsanity.com/paper/2112.12130/) (2021)
- [iMAP: Implicit Mapping and Positioning in Real-Time](https://mlsanity.com/paper/2103.12352/) (2021)
- [DI-Fusion: Online Implicit 3D Reconstruction with Deep Priors](https://mlsanity.com/paper/2012.05551/) (2020)

## Abstract (arXiv)

NICE-SLAM is a dense visual SLAM system that combines the advantages of neural implicit representations and hierarchical grid-based scene representation. However, the hierarchical grid features are densely stored, leading to memory explosion problems when adapting the framework to large scenes. In our project, we present sparse NICE-SLAM, a sparse SLAM system incorporating the idea of Voxel Hashing into NICE-SLAM framework. Instead of initializing feature grids in the whole space, voxel features near the surface are adaptively added and optimized. Experiments demonstrated that compared to NICE-SLAM algorithm, our approach takes much less memory and achieves comparable reconstruction quality on the same datasets. Our implementation is available at https://github.com/zhangganlin/NICE-SLAM-with-Adaptive-Feature-Grids.