NerfBridge: Bringing Real-time, Online Neural Radiance Field Training to Robotics

Understand

This work was presented at the IEEE International Conference on Robotics and Automation 2023 Workshop on Unconventional Spatial Representations.

• Neural radiance fields (NeRFs) are a class of implicit scene representations that model 3D environments from color images.
• NeRFs are expressive, and can model the complex and multi-scale geometry of real world environments, which potentially makes them a powerful tool for robotics applications.
• Modern NeRF training libraries can generate a photo-realistic NeRF from a static data set in just a few seconds, but are designed for offline use and require a slow pose optimization pre-computation step.