2023/10/05 by Ágoston István Csehi, Csehi, Ágoston István, Csaba M. Józsa +1
Computer Science · Engineering · #Advanced Neural Network Applications #Advanced Vision and Imaging #Computer Vision and Pattern Recognition (cs.CV) #FOS: Computer and information sciences #Machine Learning (cs.LG) #Robotics (cs.RO) #Robotics and Sensor-Based Localization
paper · pdf · doi:10.48550/arxiv.2310.03563
openalex publication_date 2023/10/05 · openalex created_date 2023/10/09 · openalex updated_date 2026/07/28
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.