BID-NeRF: 反転Neural Radiance FieldsによるRGB-D画像の姿勢推定
BID-NeRF: RGB-D image pose estimation with inverted Neural Radiance Fields
NeRFを反転させたiNeRFの姿勢推定を改良し、深度損失と複数画像損失を導入して収束速度と収束範囲を大幅に向上させた。
著者: Ágoston István Csehi, Csaba Máté Józsa
分類: cs.CV, cs.LG, cs.RO
原文アブストラクト
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.