Uni-Fusion: Universal Continuous Mapping

We introduce Uni-Fusion, an universal continuous mapping framework for surfaces, surface properties (color, infrared, etc.) and more (latent features in CLIP embedding space, etc.). We propose the first Universal Implicit Encoding model that supports encoding of both geometry and various types of properties (RGB, infrared, feature and etc.) without the need for any training. Based on that, our framework divides the point cloud into regular grid voxels and produces a latent feature in each voxel to form a Latent Implicit Map (LIM) for geometries and arbitrary properties. Then, by fusing a Local LIM of new frame to Global LIM, an incremental reconstruction is approached. Encoded with corresponding types of data, our Latent Implicit Map is capable to generate continuous surfaces, surface properties fields, surface feature fields and any other possible options. To demonstrate the capabilities of our model, we implement three applications: (1) incremental reconstruction for surfaces and color (2) 2D-to-3D fabricated properties transfers (3) open-vocabulary scene understanding by producing a text CLIP feature field on surfaces. We evaluate Uni-Fusion by comparing in corresponding applications, from which, Uni-Fusion shows high flexibility to various of application while performing best or competitive. The project page of Uni-Fusion is available at https://jarrome.github.io/Uni-Fusion/