mlsanityData to 14 Oct 2026

Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation

arXiv 2210.10108 ↗First posted 18 Oct 2022cs.CV cs.ROcited by 55

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Abstract (arXiv)

We present a parallelized optimization method based on fast Neural Radiance Fields (NeRF) for estimating 6-DoF pose of a camera with respect to an object or scene. Given a single observed RGB image of the target, we can predict the translation and rotation of the camera by minimizing the residual between pixels rendered from a fast NeRF model and pixels in the observed image. We integrate a momentum-based camera extrinsic optimization procedure into Instant Neural Graphics Primitives, a recent exceptionally fast NeRF implementation. By introducing parallel Monte Carlo sampling into the pose estimation task, our method overcomes local minima and improves efficiency in a more extensive search space. We also show the importance of adopting a more robust pixel-based loss function to reduce error. Experiments demonstrate that our method can achieve improved generalization and robustness on both synthetic and real-world benchmarks.

Key facts. Cited by 55 papers in the map (data through 14 Oct 2026). Builds on 44 of its 63 references that are in the map. First posted on arXiv 18 Oct 2022.

Builds on

44 of 63 references.

References · 44

  1. 2014Adam: A Method for Stochastic Optimizationcited by 37,240
  2. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,723
  3. 2015Fast R-CNNcited by 2,933
  4. 2019DeepSDF: Learning Continuous Signed Distance Functions for Shape Representationcited by 2,689
  5. 2018Occupancy Networks: Learning 3D Reconstruction in Function Spacecited by 2,041
  6. 2021PlenOctrees for Real-time Rendering of Neural Radiance Fieldscited by 905
  7. 2017PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenescited by 775
  8. 2020Neural Scene Flow Fields for Space-Time View Synthesis of Dynamic Scenescited by 751
  9. 2021KiloNeRF: Speeding up Neural Radiance Fields with Thousands of Tiny MLPscited by 673
  10. 2019Local Light Field Fusion: Practical View Synthesis with Prescriptive Sampling Guidelinescited by 672
  11. 2021BARF: Bundle-Adjusting Neural Radiance Fieldscited by 642
  12. 2021Neural Fields in Visual Computing and Beyondcited by 540
32 more
  1. 2018PVNet: Pixel-wise Voting Network for 6DoF Pose Estimationcited by 385
  2. 2020INeRF: Inverting Neural Radiance Fields for Pose Estimationcited by 382
  3. 2019DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusioncited by 355
  4. 2021NeRF in the Dark: High Dynamic Range View Synthesis from Noisy Raw Imagescited by 336
  5. 2021PhySG: Inverse Rendering with Spherical Gaussians for Physics-based Material Editing and Relightingcited by 335
  6. 2018DeepIM: Deep Iterative Matching for 6D Pose Estimationcited by 283
  7. 2018BOP: Benchmark for 6D Object Pose Estimationcited by 254
  8. 2018Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objectscited by 241
  9. 2020MetaSDF: Meta-learning Signed Distance Functionscited by 214
  10. 2019PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimationcited by 204
  11. 2019Implicit 3D Orientation Learning for 6D Object Detection from RGB Imagescited by 170
  12. 2022OnePose: One-Shot Object Pose Estimation without CAD Modelscited by 157
  13. 2020Objectron: A Large Scale Dataset of Object-Centric Videos in the Wild with Pose Annotationscited by 155
  14. 2021NeRF--: Neural Radiance Fields Without Known Camera Parameterscited by 155
  15. 2021FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimationcited by 144
  16. 2022Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Imagescited by 121
  17. 2021Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objectscited by 119
  18. 20213D Neural Scene Representations for Visuomotor Controlcited by 111
  19. 2021SurfEmb: Dense and Continuous Correspondence Distributions for Object Pose Estimation with Learnt Surface Embeddingscited by 95
  20. 2019PoseRBPF: A Rao-Blackwellized Particle Filter for 6D Object Pose Trackingcited by 91
  21. 2020se(3)-TrackNet: Data-driven 6D Pose Tracking by Calibrating Image Residuals in Synthetic Domainscited by 90
  22. 2021BundleTrack: 6D Pose Tracking for Novel Objects without Instance or Category-Level 3D Modelscited by 87
  23. 2022NeRF-Supervision: Learning Dense Object Descriptors from Neural Radiance Fieldscited by 86
  24. 2022OSOP: A Multi-Stage One Shot Object Pose Estimation Frameworkcited by 81
  25. 2022Loc-NeRF: Monte Carlo Localization using Neural Radiance Fieldscited by 69
  26. 2016Mean Absolute Percentage Error for regression modelscited by 58
  27. 2022NeRF-Pose: A First-Reconstruct-Then-Regress Approach for Weakly-supervised 6D Object Pose Estimationcited by 58
  28. 2021FiG-NeRF: Figure-Ground Neural Radiance Fields for 3D Object Category Modellingcited by 47
  29. 2021Single-Stage Keypoint-Based Category-Level Object Pose Estimation from an RGB Imagecited by 42
  30. 2020Robust, Occlusion-aware Pose Estimation for Objects Grasped by Adaptive Handscited by 26
  31. 20203D Object Detection and Pose Estimation of Unseen Objects in Color Images with Local Surface Embeddingscited by 22
  32. 2020MobilePose: Real-Time Pose Estimation for Unseen Objects with Weak Shape Supervisioncited by 16

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 15; 2024: 20; 2025: 13; 2026: 7.

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  1. 2024Scene Coordinate Reconstruction: Posing of Image Collections via Incremental Learning of a Relocalizercited by 73
  2. 2023CROSSFIRE: Camera Relocalization On Self-Supervised Features from an Implicit Representationcited by 45
  3. 2024GS-CPR: Efficient Camera Pose Refinement via 3D Gaussian Splattingcited by 31
  4. 2023POPE: 6-DoF Promptable Pose Estimation of Any Object, in Any Scene, with One Referencecited by 30
  5. 20246DGS: 6D Pose Estimation from a Single Image and a 3D Gaussian Splatting Modelcited by 28
  6. 2024The Unreasonable Effectiveness of Pre-Trained Features for Camera Pose Refinementcited by 21
  7. 2024Neural Fields in Robotics: A Surveycited by 21
  8. 2023NViST: In the Wild New View Synthesis from a Single Image with Transformerscited by 19
  9. 2023Learning to Estimate 6DoF Pose from Limited Data: A Few-Shot, Generalizable Approach using RGB Imagescited by 18
  10. 2024NeRFs in Robotics: A Surveycited by 16
  11. 2025From Sparse to Dense: Camera Relocalization with Scene-Specific Detector from Feature Gaussian Splattingcited by 14
  12. 2023AI-Generated Images as Data Source: The Dawn of Synthetic Eracited by 13
38 more
  1. 2023Cinematic Behavior Transfer via NeRF-based Differentiable Filmingcited by 12
  2. 2024Fed3DGS: Scalable 3D Gaussian Splatting with Federated Learningcited by 12
  3. 2023Diff-DOPE: Differentiable Deep Object Pose Estimationcited by 11
  4. 2023CF-NeRF: Camera Parameter Free Neural Radiance Fields with Incremental Learningcited by 11
  5. 2025Gaussian Splatting Feature Fields for Privacy-Preserving Visual Localizationcited by 10
  6. 2023BAA-NGP: Bundle-Adjusting Accelerated Neural Graphics Primitivescited by 8
  7. 2023Federated Learning for Large-Scale Scene Modeling with Neural Radiance Fieldscited by 8
  8. 2024GeoNLF: Geometry guided Pose-Free Neural LiDAR Fieldscited by 6
  9. 2023NeRFuser: Large-Scale Scene Representation by NeRF Fusioncited by 5
  10. 2024IFFNeRF: Initialisation Free and Fast 6DoF pose estimation from a single image and a NeRF modelcited by 5
  11. 2024Self-supervised Learning of Neural Implicit Feature Fields for Camera Pose Refinementcited by 5
  12. 2024Look Gauss, No Pose: Novel View Synthesis using Gaussian Splatting without Accurate Pose Initializationcited by 5
  13. 2024LoGS: Visual Localization via Gaussian Splatting with Fewer Training Imagescited by 5
  14. 2025Scalable and High-Quality Neural Implicit Representation for 3D Reconstructioncited by 5
  15. 2025LoD-Loc v2: Aerial Visual Localization over Low Level-of-Detail City Models using Explicit Silhouette Alignmentcited by 5
  16. 2025GSVisLoc: Generalizable Visual Localization for Gaussian Splatting Scene Representationscited by 5
  17. 2023MELON: NeRF with Unposed Images in SO(3)cited by 4
  18. 2024Marrying NeRF with Feature Matching for One-step Pose Estimationcited by 3
  19. 2024Intraoperative Registration by Cross-Modal Inverse Neural Renderingcited by 3
  20. 2025SplatPose: Geometry-Aware 6-DoF Pose Estimation from Single RGB Image via 3D Gaussian Splattingcited by 3
  21. 2025Can we make NeRF-based visual localization privacy-preserving?cited by 3
  22. 2023CaLDiff: Camera Localization in NeRF via Pose Diffusioncited by 2
  23. 2023Density Uncertainty Quantification with NeRF-Ensembles: Impact of Data and Scene Constraintscited by 1
  24. 2024ICON: Incremental CONfidence for Joint Pose and Radiance Field Optimizationcited by 1
  25. 2024HoloGS: Instant Depth-based 3D Gaussian Splatting with Microsoft HoloLens 2cited by 1
  26. 2024NeRFDeformer: NeRF Transformation from a Single View via 3D Scene Flowscited by 1
  27. 2025SPLATART: Articulated Gaussian Splatting with Estimated Object Structurecited by 1
  28. 2025Camera Pose Refinement via 3D Gaussian Splattingcited by 1
  29. 2026ImLoc: Revisiting Visual Localization with Image-based Representationcited by 1
  30. 2026Rethinking Pose Refinement in 3D Gaussian Splatting under Pose Prior and Geometric Uncertaintycited by 1
  31. 2023BID-NeRF: RGB-D image pose estimation with inverted Neural Radiance Fieldscited by 0
  32. 2024DPPE: Dense Pose Estimation in a Plenoxels Environment using Gradient Approximationcited by 0
  33. 2024OmniPose6D: Towards Short-Term Object Pose Tracking in Dynamic Scenes from Monocular RGBcited by 0
  34. 2024KeyGS: A Keyframe-Centric Gaussian Splatting Method for Monocular Image Sequencescited by 0
  35. 2025ImplicitCell: Resolution Cell Modeling of Joint Implicit Volume Reconstruction and Pose Refinement in Freehand 3D Ultrasoundcited by 0
  36. 2025GSFeatLoc: Visual Localization Using Feature Correspondence on 3D Gaussian Splattingcited by 0
  37. 2025Robust Visual Localization via Semantic-Guided Multi-Scale Transformercited by 0
  38. 2025Embodied Spatial Intelligence: from Implicit Scene Modeling to Spatial Reasoningcited by 0

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