# Neural Radiance Field Dynamic Scene SLAM Based on Ray Segmentation and Bundle Adjustment

## TL;DR

This paper introduces a new SLAM method that improves 3D scene reconstruction in dynamic and changing environments using neural radiance fields.

## Contribution

A novel SLAM approach combining ray segmentation and bundle adjustment for dynamic scenes using LK optical flow and CRF potentials.

## Key findings

- The method outperforms existing systems in reconstruction quality on dynamic datasets.
- Tracking accuracy is significantly improved in challenging lighting and dynamic conditions.
- Experiments were conducted on TUM RGB-D, Openloris, and Bonn datasets.

## Abstract

The current neural implicit SLAM methods have demonstrated excellent performance in reconstructing ideal static 3D scenes. However, it remains a significant challenge for these methods to handle real scenes with drastic changes in lighting conditions and dynamic environments. This paper proposes a neural implicit SLAM method that effectively deals with dynamic scenes. We employ a keyframe selection and tracking switching approach based on Lucas–Kanade (LK) optical flow, which serves as prior construction for the Conditional Random Fields potential function. This forms a semantic-based joint estimation method for dynamic and static pixels and constructs corresponding loss functions to impose constraints on dynamic scenes. We conduct experiments on various dynamic and challenging scene datasets, including TUM RGB-D, Openloris, and Bonn. The results demonstrate that our method significantly outperforms existing neural implicit SLAM systems in terms of reconstruction quality and tracking accuracy.