# Decomposition of Neural Discrete Representations for Large-Scale 3D Mapping

arXiv: https://arxiv.org/abs/2407.15554 · HTML: https://mlsanity.com/paper/2407.15554/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 26 of its 35 references that are in the map.
- First posted on arXiv 22 Jul 2024.

## Builds on (most cited first, 26 of 26)

- [Neural Discrete Representation Learning](https://mlsanity.com/paper/1711.00937/) (2017)
- [Instant Neural Graphics Primitives with a Multiresolution Hash Encoding](https://mlsanity.com/paper/2201.05989/) (2022)
- [Categorical Reparameterization with Gumbel-Softmax](https://mlsanity.com/paper/1611.01144/) (2016)
- [DeepSDF: Learning Continuous Signed Distance Functions for Shape Representation](https://mlsanity.com/paper/1901.05103/) (2019)
- [Estimating or Propagating Gradients Through Stochastic Neurons for Conditional Computation](https://mlsanity.com/paper/1308.3432/) (2013)
- [NeuS: Learning Neural Implicit Surfaces by Volume Rendering for Multi-view Reconstruction](https://mlsanity.com/paper/2106.10689/) (2021)
- [Neural Sparse Voxel Fields](https://mlsanity.com/paper/2007.11571/) (2020)
- [NeRF++: Analyzing and Improving Neural Radiance Fields](https://mlsanity.com/paper/2010.07492/) (2020)
- [Convolutional Occupancy Networks](https://mlsanity.com/paper/2003.04618/) (2020)
- [Implicit Geometric Regularization for Learning Shapes](https://mlsanity.com/paper/2002.10099/) (2020)
- [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)
- [Neural Geometric Level of Detail: Real-time Rendering with Implicit 3D Shapes](https://mlsanity.com/paper/2101.10994/) (2021)
- [Neural RGB-D Surface Reconstruction](https://mlsanity.com/paper/2104.04532/) (2021)
- [ESLAM: Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fields](https://mlsanity.com/paper/2211.11704/) (2022)
- [Variable Bitrate Neural Fields](https://mlsanity.com/paper/2206.07707/) (2022)
- [iSDF: Real-Time Neural Signed Distance Fields for Robot Perception](https://mlsanity.com/paper/2204.02296/) (2022)
- [Semantic Scene Completion using Local Deep Implicit Functions on LiDAR Data](https://mlsanity.com/paper/2011.09141/) (2020)
- [The Newer College Dataset: Handheld LiDAR, Inertial and Vision with Ground Truth](https://mlsanity.com/paper/2003.05691/) (2020)
- [SHINE-Mapping: Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations](https://mlsanity.com/paper/2210.02299/) (2022)
- [NeRF-LOAM: Neural Implicit Representation for Large-Scale Incremental LiDAR Odometry and Mapping](https://mlsanity.com/paper/2303.10709/) (2023)
- [Active Neural Mapping](https://mlsanity.com/paper/2308.16246/) (2023)
- [Continual Neural Mapping: Learning An Implicit Scene Representation from Sequential Observations](https://mlsanity.com/paper/2108.05851/) (2021)
- [LONER: LiDAR Only Neural Representations for Real-Time SLAM](https://mlsanity.com/paper/2309.04937/) (2023)
- [Implicit LiDAR Network: LiDAR Super-Resolution via Interpolation Weight Prediction](https://mlsanity.com/paper/2203.06413/) (2022)
- [Semi-supervised Implicit Scene Completion from Sparse LiDAR](https://mlsanity.com/paper/2111.14798/) (2021)

## Abstract (arXiv)

Learning efficient representations of local features is a key challenge in feature volume-based 3D neural mapping, especially in large-scale environments. In this paper, we introduce Decomposition-based Neural Mapping (DNMap), a storage-efficient large-scale 3D mapping method that employs a discrete representation based on a decomposition strategy. This decomposition strategy aims to efficiently capture repetitive and representative patterns of shapes by decomposing each discrete embedding into component vectors that are shared across the embedding space. Our DNMap optimizes a set of component vectors, rather than entire discrete embeddings, and learns composition rather than indexing the discrete embeddings. Furthermore, to complement the mapping quality, we additionally learn low-resolution continuous embeddings that require tiny storage space. By combining these representations with a shallow neural network and an efficient octree-based feature volume, our DNMap successfully approximates signed distance functions and compresses the feature volume while preserving mapping quality. Our source code is available at https://github.com/minseong-p/dnmap.