BID-NeRF: RGB-D image pose estimation with inverted Neural Radiance Fields

Autor:	Csehi, Ágoston István, Józsa, Csaba Máté
Rok vydání:	2023
Předmět:	Computer Science - Computer Vision and Pattern Recognition Computer Science - Machine Learning Computer Science - Robotics
Druh dokumentu:	Working Paper
Popis:	We aim to improve the Inverted Neural Radiance Fields (iNeRF) algorithm which defines the image pose estimation problem as a NeRF based iterative linear optimization. NeRFs are novel neural space representation models that can synthesize photorealistic novel views of real-world scenes or objects. Our contributions are as follows: we extend the localization optimization objective with a depth-based loss function, we introduce a multi-image based loss function where a sequence of images with known relative poses are used without increasing the computational complexity, we omit hierarchical sampling during volumetric rendering, meaning only the coarse model is used for pose estimation, and we how that by extending the sampling interval convergence can be achieved even or higher initial pose estimate errors. With the proposed modifications the convergence speed is significantly improved, and the basin of convergence is substantially extended. Comment: Accepted to Nerf4ADR workshop of ICCV23 conference
Databáze:	arXiv
Externí odkaz:	http://arxiv.org/abs/2310.03563 Zobrazit plný text záznamu View this record from Arxiv