CROSSFIRE: Camera Relocalization On Self-Supervised Features from an Implicit Representation

Understand

Beyond novel view synthesis, Neural Radiance Fields are useful for applications that interact with the real world.

• In this paper, we use them as an implicit map of a given scene and propose a camera relocalization algorithm tailored for this representation.
• The proposed method enables to compute in real-time the precise position of a device using a single RGB camera, during its navigation.
• In contrast with previous work, we do not rely on pose regression or photometric alignment but rather use dense local features obtained through volumetric rendering which are specialized on the scene with a self-supervised objective.