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In recent years, the development of Neural Radiance Fields has enabled a previously unseen level of photo-realistic 3D reconstruction of scenes and objects from multi-view camera data. However, previous methods use an oversimplified pinhole…
We present VERF, a collection of two methods (VERF-PnP and VERF-Light) for providing runtime assurance on the correctness of a camera pose estimate of a monocular camera without relying on direct depth measurements. We leverage the ability…
Neural Radiance Fields (NeRF) give rise to learning-based 3D reconstruction methods widely used in industrial applications. Although prevalent methods achieve considerable improvements in small-scale scenes, accomplishing reconstruction in…
Neural Radiance Field (NeRF) is a representation for 3D reconstruction from multi-view images. Despite some recent work showing preliminary success in editing a reconstructed NeRF with diffusion prior, they remain struggling to synthesize…
We cast multiview reconstruction from unknown pose as a generative modeling problem. From a collection of unannotated 2D images of a scene, our approach simultaneously learns both a network to predict camera pose from 2D image input, as…
Neural Radiance Fields (NeRF) show impressive performance in photo-realistic free-view rendering of scenes. Recent improvements on the NeRF such as TensoRF and ZipNeRF employ explicit models for faster optimization and rendering, as…
Neural radiance fields (NeRFs) have recently emerged as a promising approach for 3D reconstruction and novel view synthesis. However, NeRF-based methods encode shape, reflectance, and illumination implicitly and this makes it challenging…
Neural Radiance Fields (NeRF) has demonstrated its superior capability to represent 3D geometry but require accurately precomputed camera poses during training. To mitigate this requirement, existing methods jointly optimize camera poses…
Dynamic scene reconstruction for autonomous driving enables vehicles to perceive and interpret complex scene changes more precisely. Dynamic Neural Radiance Fields (NeRFs) have recently shown promising capability in scene modeling. However,…
Neural radiance fields (NeRFs) have emerged as a prominent pre-training paradigm for vision-centric autonomous driving, which enhances 3D geometry and appearance understanding in a fully self-supervised manner. To apply NeRF-based…
Neural Radiance Fields (NeRF) has demonstrated remarkable 3D reconstruction capabilities with dense view images. However, its performance significantly deteriorates under sparse view settings. We observe that learning the 3D consistency of…
We present a Bayesian Neural Radiance Field (NeRF), which explicitly quantifies uncertainty in the volume density by modeling uncertainty in the occupancy, without the need for additional networks, making it particularly suited for…
Neural Radiance Fields (NeRF) have recently gained a surge of interest within the computer vision community for its power to synthesize photorealistic novel views of real-world scenes. One limitation of NeRF, however, is its requirement of…
Modelling individual objects in a scene as Neural Radiance Fields (NeRFs) provides an alternative geometric scene representation that may benefit downstream robotics tasks such as scene understanding and object manipulation. However, we…
This work introduces a novel augmentation method that increases the diversity of a train set to improve the generalization abilities of a 6D pose estimation network. For this purpose, a Neural Radiance Field is trained from synthetic images…
Neural radiance fields (NeRFs) are a powerful tool for implicit scene representations, allowing for differentiable rendering and the ability to make predictions about unseen viewpoints. There has been growing interest in object and…
Underwater imaging is a critical task performed by marine robots for a wide range of applications including aquaculture, marine infrastructure inspection, and environmental monitoring. However, water column effects, such as attenuation and…
Although there has been significant progress in neural radiance fields, an issue on dynamic illumination changes still remains unsolved. Different from relevant works that parameterize time-variant/-invariant components in scenes, subjects'…
Neural Radiance Fields (NeRF) has gained significant attention for its prominent implicit 3D representation and realistic novel view synthesis capabilities. Available works unexceptionally employ straight-line volume rendering, which…
Neural Radiance Fields (NeRFs) have proven to be powerful 3D representations, capable of high quality novel view synthesis of complex scenes. While NeRFs have been applied to graphics, vision, and robotics, problems with slow rendering…