Neural Radiance Fields (NeRF) have exhibited highly effective performance for photorealistic novel view synthesis recently. However, the key limitation it meets is the reliance on a hand-crafted frequency annealing strategy to recover 3D scenes with imperfect camera poses. The strategy exploits a temporal low-pass filter to guarantee convergence while decelerating the joint optimization of implicit scene reconstruction and camera registration. In this work, we introduce the Frequency Adapted Bundle Adjusting Radiance Field (FA-BARF), substituting the temporal low-pass filter for a frequency-adapted spatial low-pass filter to address the decelerating problem. We establish a theoretical framework to interpret the relationship between position encoding of NeRF and camera registration and show that our frequency-adapted filter can mitigate frequency fluctuation caused by the temporal filter. Furthermore, we show that applying a spatial low-pass filter in NeRF can optimize camera poses productively through radial uncertainty overlaps among various views. Extensive experiments show that FA-BARF can accelerate the joint optimization process under little perturbations in object-centric scenes and recover real-world scenes with unknown camera poses. This implies wider possibilities for NeRF applied in dense 3D mapping and reconstruction under real-time requirements. The code will be released upon paper acceptance.
@article{arxiv.2503.12086,
title = {FA-BARF: Frequency Adapted Bundle-Adjusting Neural Radiance Fields},
author = {Rui Qian and Chenyangguang Zhang and Yan Di and Guangyao Zhai and Ruida Zhang and Jiayu Guo and Benjamin Busam and Jian Pu},
journal= {arXiv preprint arXiv:2503.12086},
year = {2025}
}