The sparse parametric encodings and TSDF representation have certain limitations that can be addressed to handle more complex and dynamic environments:
Limited Resolution: Sparse parametric encodings may struggle with capturing fine details in highly complex scenes. Increasing the resolution of the encoding or incorporating multi-resolution representations can help in handling intricate environments more effectively.
Dynamic Scene Changes: TSDF representation may face challenges in dynamic environments where scene changes occur frequently. Implementing adaptive TSDF updates or incorporating mechanisms to handle dynamic objects can improve the system's robustness.
Semantic Information Integration: Integrating semantic information into the sparse parametric encodings and TSDF representation can enhance scene understanding and enable the system to differentiate between different types of objects or structures in the environment.
Memory Efficiency: Optimizing the memory usage of sparse parametric encodings and TSDF representation to handle larger and more complex scenes without compromising performance can be beneficial for scalability in dynamic environments.
Real-time Adaptation: Developing mechanisms for real-time adaptation of sparse parametric encodings and TSDF representation based on scene dynamics can improve the system's ability to handle rapid changes in the environment.