NeuSE: Neural SE(3)-Equivariant Embedding for Long-Term Object-Based SLAM
Overview
NeuSE is a novel neural SE(3)-equivariant embedding for objects that supports object-based SLAM, enabling consistent spatial understanding in dynamic environments through full shape, scale, and transform encoding. Evaluated on synthetic and real-world sequences, it shows improved localization and change-aware mapping consistency.
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- arXiv Robotics — research abstractsNeuSE: Neural SE(3)-Equivariant Embedding for Long-Term Object-Based Simultaneous Localization and Mapping
The paper presents NeuSE, a novel neural SE(3)-equivariant embedding for objects that supports object-based SLAM. It enables consistent spatial understanding in dynamic environments by encoding full shape, scale, and transform information. NeuSE is evaluated on synthetic and real-world sequences, demonstrating improved localization and change-aware mapping consistency.
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