2024/05/11 by Zhen Tan, Zongtan Zhou, Tan, Zhen +9 · 2 citations
Computer Science · Engineering · #Advanced Vision and Imaging #Artificial Intelligence (cs.AI) #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Optical measurement and interference techniques #Robotics (cs.RO) #Robotics and Sensor-Based Localization
paper · pdf · doi:10.48550/arxiv.2405.07027
openalex publication_date 2024/05/11 · openalex created_date 2024/05/15 · openalex updated_date 2026/07/28
The reliance on accurate camera poses is a significant barrier to the widespread deployment of Neural Radiance Fields (NeRF) models for 3D reconstruction and SLAM tasks. The existing method introduces monocular depth priors to jointly optimize the camera poses and NeRF, which fails to fully exploit the depth priors and neglects the impact of their inherent noise. In this paper, we propose Truncated Depth NeRF (TD-NeRF), a novel approach that enables training NeRF from unknown camera poses - by jointly optimizing learnable parameters of the radiance field and camera poses. Our approach explicitly utilizes monocular depth priors through three key advancements: 1) we propose a novel depth-based ray sampling strategy based on the truncated normal distribution, which improves the convergence speed and accuracy of pose estimation; 2) to circumvent local minima and refine depth geometry, we introduce a coarse-to-fine training strategy that progressively improves the depth precision; 3) we propose a more robust inter-frame point constraint that enhances robustness against depth noise during training. The experimental results on three datasets demonstrate that TD-NeRF achieves superior performance in the joint optimization of camera pose and NeRF, surpassing prior works, and generates more accurate depth geometry. The implementation of our method has been released at https://github.com/nubot-nudt/TD-NeRF.