NeuSE：面向长期物体级 SLAM 的神经 SE(3) 等变嵌入

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Abstract:We present NeuSE, a novel Neural SE(3)-Equivariant Embedding for objects, and illustrate how it supports object-based Simultaneous Localization and Mapping (SLAM) for consistent spatial understanding with long-term scene changes. NeuSE is a set of latent object embeddings created from partial object observations. It serves as a compact point cloud surrogate for complete object models, encoding the full shape, scale, and transform information about an object. In addition, the inferred latent code is both SE(3) and scale equivariant, enabling strong generalization to objects of both unseen sizes and different SE(3) poses. This makes NeuSE particularly effective in real-world scenarios where objects may vary in size or spatial configuration. With NeuSE, relative frame transforms can be directly derived from inferred latent codes. Our proposed SLAM paradigm, using NeuSE for object shape, size, and pose characterization, can operate independently or in conjunction with typical SLAM systems. It directly infers SE(3) camera pose constraints that are compatible with general SLAM pose graph optimization, while maintaining a lightweight, object-centric map that adapts to real-world changes. Our evaluation is conducted on synthetic and real-world sequences with changes in both controlled and uncontrolled settings, featuring multi-category objects of various shapes and sizes. Our approach demonstrates improved localization capability and change-aware mapping consistency when working either independently or as a complement to common SLAM pipelines. Additional results are presented in the supplementary video: this https URL

Comments:	Accepted to The International Journal of Robotics Research (IJRR). Supplementary video: this https URL
Subjects:	Robotics (cs.RO); Artificial Intelligence (cs.AI); Computer Vision and Pattern Recognition (cs.CV); Machine Learning (cs.LG)
Cite as:	arXiv:2303.07308 [cs.RO]
	(or arXiv:2303.07308v3 [cs.RO] for this version)
	https://doi.org/10.48550/arXiv.2303.07308 arXiv-issued DOI via DataCite
Journal reference:	The International Journal of Robotics Research 45(1), 159-189 (2026)
Related DOI:	https://doi.org/10.1177/02783649251355966 DOI(s) linking to related resources

Submission history

From: Jiahui Fu [view email]
[v1] Mon, 13 Mar 2023 17:30:43 UTC (9,322 KB)
[v2] Mon, 10 Jul 2023 12:33:04 UTC (10,478 KB)
[v3] Tue, 13 Oct 2026 03:15:29 UTC (48,419 KB)