Distributed NeRF Learning for Collaborative Multi-Robot Perception

Understand

Effective environment perception is crucial for enabling downstream robotic applications.

• Individual robotic agents often face occlusion and limited visibility issues, whereas multi-agent systems can offer a more comprehensive mapping of the environment, quicker coverage, and increased fault tolerance.
• In this paper, we propose a collaborative multi-agent perception system where agents collectively learn a neural radiance field (NeRF) from posed RGB images to represent a scene.
• Each agent processes its local sensory data and shares only its learned NeRF model with other agents, reducing communication overhead.