Before revision: Previous online 3D dense reconstruction methods often cost massive memory storage while achieving unsatisfactory surface qualitymainly due to the usage of stagnant underlying geometry representation, such as TSDF (truncated signed distance functions) or surfels, without any knowledge of the scene priors.
After revision: Previous online 3D dense reconstruction methods struggle to achieve the balance between memory storage and surface quality, largely due to the usage of stagnant underlying geometry representation, such as TSDF (truncated signed distance functions) or surfels, without any knowledge of the scene priors.