# SDF-based RGB-D Camera Tracking in Neural Scene Representations

arXiv: https://arxiv.org/abs/2205.02079 · HTML: https://mlsanity.com/paper/2205.02079/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 12 of its 14 references that are in the map.
- First posted on arXiv 4 May 2022.

## Builds on (most cited first, 12 of 12)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [DeepSDF: Learning Continuous Signed Distance Functions for Shape Representation](https://mlsanity.com/paper/1901.05103/) (2019)
- [Occupancy Networks: Learning 3D Reconstruction in Function Space](https://mlsanity.com/paper/1812.03828/) (2018)
- [NeuS: Learning Neural Implicit Surfaces by Volume Rendering for Multi-view Reconstruction](https://mlsanity.com/paper/2106.10689/) (2021)
- [Volume Rendering of Neural Implicit Surfaces](https://mlsanity.com/paper/2106.12052/) (2021)
- [Implicit Geometric Regularization for Learning Shapes](https://mlsanity.com/paper/2002.10099/) (2020)
- [NICE-SLAM: Neural Implicit Scalable Encoding for SLAM](https://mlsanity.com/paper/2112.12130/) (2021)
- [iMAP: Implicit Mapping and Positioning in Real-Time](https://mlsanity.com/paper/2103.12352/) (2021)
- [INeRF: Inverting Neural Radiance Fields for Pose Estimation](https://mlsanity.com/paper/2012.05877/) (2020)
- [Neural RGB-D Surface Reconstruction](https://mlsanity.com/paper/2104.04532/) (2021)
- [NeRF--: Neural Radiance Fields Without Known Camera Parameters](https://mlsanity.com/paper/2102.07064/) (2021)
- [iSDF: Real-Time Neural Signed Distance Fields for Robot Perception](https://mlsanity.com/paper/2204.02296/) (2022)

## Abstract (arXiv)

We consider the problem of tracking the 6D pose of a moving RGB-D camera in a neural scene representation. Different such representations have recently emerged, and we investigate the suitability of them for the task of camera tracking. In particular, we propose to track an RGB-D camera using a signed distance field-based representation and show that compared to density-based representations, tracking can be sped up, which enables more robust and accurate pose estimates when computation time is limited.