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Many real-world 3D reconstruction applications demand photorealism and metric accuracy across unbounded, complex scenes with challenging lighting and imperfect captures that current Neural Radiance Field (NeRF) pipelines only partly…

Neural Radiance Fields (NeRF) have been proposed for photorealistic novel view rendering. However, it requires many different views of one scene for training. Moreover, it has poor generalizations to new scenes and requires retraining or…

Neural Radiance Fields (NeRF) recently emerged as a new paradigm for object representation from multi-view (MV) images. Yet, it cannot handle multi-scale (MS) images and camera pose estimation errors, which generally is the case with…

Recently, Neural Radiance Fields (NeRF) has shown promising performances on reconstructing 3D scenes and synthesizing novel views from a sparse set of 2D images. Albeit effective, the performance of NeRF is highly influenced by the quality…

Accurate 6D pose estimation is key for robotic manipulation, enabling precise object localization for tasks like grasping. We present RAG-6DPose, a retrieval-augmented approach that leverages 3D CAD models as a knowledge base by integrating…

Neural Radiance Fields (NeRF) have demonstrated impressive performance in novel view synthesis. However, NeRF and most of its variants still rely on traditional complex pipelines to provide extrinsic and intrinsic camera parameters, such as…

Relevant information about physical properties of the surface of airless bodies such as porosity, particle size, or roughness can be inferred knowing the dependence of the brightness with illumination and observing geometry. Additionally,…

Recent advances in neural rendering have shown that, albeit slow, implicit compact models can learn a scene's geometries and view-dependent appearances from multiple views. To maintain such a small memory footprint but achieve faster…

As Neural Radiance Field (NeRF) implementations become faster, more efficient and accurate, their applicability to real world mapping tasks becomes more accessible. Traditionally, 3D mapping, or scene reconstruction, has relied on expensive…

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…

Autonomous space operations such as on-orbit servicing and active debris removal demand robust part-level semantic understanding and precise relative navigation of target spacecraft, yet collecting large-scale real data in orbit remains…

We present a parallelized optimization method based on fast Neural Radiance Fields (NeRF) for estimating 6-DoF pose of a camera with respect to an object or scene. Given a single observed RGB image of the target, we can predict the…

Optical aberrations prevent telescopes from reaching their theoretical diffraction limit. Once estimated, these aberrations can be compensated for using deformable mirrors in a closed loop. Focal plane wavefront sensing enables the…

Neural Radiance Fields (NeRF) use multi-view images for 3D scene representation, demonstrating remarkable performance. As one of the primary sources of multi-view images, multi-camera systems encounter challenges such as varying intrinsic…

As a promising fashion for visual localization, scene coordinate regression (SCR) has seen tremendous progress in the past decade. Most recent methods usually adopt neural networks to learn the mapping from image pixels to 3D scene…

In this work, an existing deep neural network approach for determining a robot's pose from visual information (RGB images) is modified, improving its localization performance without impacting its ease of training. Explicitly, the network's…

Purpose: Neural Radiance Fields (NeRF) offer exceptional capabilities for 3D reconstruction and view synthesis, yet their reliance on extensive multi-view data limits their application in surgical intraoperative settings where only limited…

NeRF aims to learn a continuous neural scene representation by using a finite set of input images taken from various viewpoints. A well-known limitation of NeRF methods is their reliance on data: the fewer the viewpoints, the higher the…

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…

NeRF acquisition typically requires careful choice of near planes for the different cameras or suffers from background collapse, creating floating artifacts on the edges of the captured scene. The key insight of this work is that background…