渲染的像素是由NeRF根据估计的姿态生成的,然后通过渲染和观察像素之间的残差反向传播来优化姿态。NeRF-Navigation进一步将基于动态模型的过程损失与光度损失相结合,以过滤跟踪结果并避免姿态初始化。除了将观察到的图像直接与渲染的图像进行比较外,NeRF-VINS还将观察到的图像与从略微偏离当前估计姿态的姿态生成的图像进行匹...
2)NeRF-Navigation进一步结合基于动态模型的过程损失和光度损失来滤除跟踪结果,避免姿态初始化问题。除了直接比较观测图像和渲染图像。 3)NeRF-VINS将观测图像与从当前估计姿态带有小偏移量的NeRF生成的图像匹配,以更新姿态估计。作者声称,合成图像应与观测图像有...
It’s as simple as plug and play with nerfstudio! Nerfstudio provides a simple API that allows for a simplified end-to-end process of creating, training, and testing NeRFs. The library supports amore interpretable implementation of NeRFs by modularizing each component.With more modular NeRFs, we...
5、NeRF-VINS 标题:NeRF-VINS: A Real-time Neural Radiance Field Map-based Visual-Inertial Navigation System 作者:Saimouli Katragadda, Woosik Lee, Yuxiang Peng, Patrick Geneva, Chuchu Chen, Chao Guo, Mingyang Li, Guoquan Huang 机构:特拉华大学 来源:ICRA 2023 原文链接:https://arxiv.org/abs/23...
NerfAcc is a PyTorch Nerf acceleration toolbox for both training and inference. It focus on efficient sampling in the volumetric rendering pipeline of radiance fields, which is universal and plug-and-play for most of the NeRFs. With minimal modifications to the existing codebases, Nerfacc provide...
图1:文章结构:三维重建(3D Reconstruction),分割(Segmentation),姿态估计(Pose Estimation),SLAM,规划与导航(Planning and Navigation),以及交互(Interaction) 基于NeRF 的三维重建: 在自主机器人领域,3D 重建是一项基础能力,因为它为机器人提供了对其所处物理世界的全面空间理解。特别是,通过创建精确的环境3D地图,机器...
基于改进NeRF-Navigation的移动机器人三维路径规划方法 关键词:移动机器人;三维路径规划;三维重建;医疗场景;NeRF中图分类号:TP18文献标识码:A文章编号:1009-3044(2023)24-0014-040引言在移动机器人路径规划研究领域,构建精... 杨铖 侯耀斐 被引量: 0发表: 2023年 Drone-NeRF: Efficient NeRF based 3D scene rec...
- 《Guidance Navigation & Control》 被引量: 0发表: 2024年 Trans-DONeRF forTransparent Object Rendering withMixed Depth Prior The advent of Neural Radiance Fields (NeRF) has significantly impacted the field of novel view synthesis, heralding a new era of methodological advancement... J Ye,T ...
“If traditional 3D representations like polygonal meshes are akin to vector images, NeRFs are like bitmap images: they densely capture the way light radiates from an object or within a scene,” says David Luebke, vice president for graphics research at NVIDIA. “In that sense, Instant NeRF ...
NeRF-Navigation通过惩罚机器人机身点云模型与密度场之间的碰撞行为,实现了在 NeRF 地图中的安全导航。NFOMP在执行在线轨迹优化时学习障碍神经场以避免障碍物,此外还添加了拉格朗日乘子以处理非完整约束。Tong 等人利用学习的 NICE-SLAM 模型提供的未来视觉预测来实现基于视觉反馈控制屏障函数的安全机器人控制。为了实现...