Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation
Yunzhi Lin,Thomas Müller,Jonathan Tremblay,Bowen Wen,Stephen Tyree,Alex Evans,Patricio A. Vela,Stan Birchfield,Yunzhi Lin,Thomas Müller,Jonathan Tremblay,Bowen Wen,Stephen Tyree,Alex Evans,Patricio A. Vela,Stan Birchfield
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 translation and rotation of the camera by minimizing the residual between pixels rendered from a fast NeRF model and pixels in the observed image. We integrate a moment...
