# Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation

arXiv: https://arxiv.org/abs/2210.10108 · HTML: https://mlsanity.com/paper/2210.10108/

## 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 (most cited first, 30 of 44)

- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [Instant Neural Graphics Primitives with a Multiresolution Hash Encoding](https://mlsanity.com/paper/2201.05989/) (2022)
- [Fast R-CNN](https://mlsanity.com/paper/1504.08083/) (2015)
- [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)
- [PlenOctrees for Real-time Rendering of Neural Radiance Fields](https://mlsanity.com/paper/2103.14024/) (2021)
- [PoseCNN: A Convolutional Neural Network for 6D Object Pose Estimation in Cluttered Scenes](https://mlsanity.com/paper/1711.00199/) (2017)
- [Neural Scene Flow Fields for Space-Time View Synthesis of Dynamic Scenes](https://mlsanity.com/paper/2011.13084/) (2020)
- [KiloNeRF: Speeding up Neural Radiance Fields with Thousands of Tiny MLPs](https://mlsanity.com/paper/2103.13744/) (2021)
- [Local Light Field Fusion: Practical View Synthesis with Prescriptive Sampling Guidelines](https://mlsanity.com/paper/1905.00889/) (2019)
- [BARF: Bundle-Adjusting Neural Radiance Fields](https://mlsanity.com/paper/2104.06405/) (2021)
- [Neural Fields in Visual Computing and Beyond](https://mlsanity.com/paper/2111.11426/) (2021)
- [PVNet: Pixel-wise Voting Network for 6DoF Pose Estimation](https://mlsanity.com/paper/1812.11788/) (2018)
- [INeRF: Inverting Neural Radiance Fields for Pose Estimation](https://mlsanity.com/paper/2012.05877/) (2020)
- [DenseFusion: 6D Object Pose Estimation by Iterative Dense Fusion](https://mlsanity.com/paper/1901.04780/) (2019)
- [NeRF in the Dark: High Dynamic Range View Synthesis from Noisy Raw Images](https://mlsanity.com/paper/2111.13679/) (2021)
- [PhySG: Inverse Rendering with Spherical Gaussians for Physics-based Material Editing and Relighting](https://mlsanity.com/paper/2104.00674/) (2021)
- [DeepIM: Deep Iterative Matching for 6D Pose Estimation](https://mlsanity.com/paper/1804.00175/) (2018)
- [BOP: Benchmark for 6D Object Pose Estimation](https://mlsanity.com/paper/1808.08319/) (2018)
- [Deep Object Pose Estimation for Semantic Robotic Grasping of Household Objects](https://mlsanity.com/paper/1809.10790/) (2018)
- [MetaSDF: Meta-learning Signed Distance Functions](https://mlsanity.com/paper/2006.09662/) (2020)
- [PVN3D: A Deep Point-wise 3D Keypoints Voting Network for 6DoF Pose Estimation](https://mlsanity.com/paper/1911.04231/) (2019)
- [Implicit 3D Orientation Learning for 6D Object Detection from RGB Images](https://mlsanity.com/paper/1902.01275/) (2019)
- [OnePose: One-Shot Object Pose Estimation without CAD Models](https://mlsanity.com/paper/2205.12257/) (2022)
- [Objectron: A Large Scale Dataset of Object-Centric Videos in the Wild with Pose Annotations](https://mlsanity.com/paper/2012.09988/) (2020)
- [NeRF--: Neural Radiance Fields Without Known Camera Parameters](https://mlsanity.com/paper/2102.07064/) (2021)
- [FFB6D: A Full Flow Bidirectional Fusion Network for 6D Pose Estimation](https://mlsanity.com/paper/2103.02242/) (2021)
- [Gen6D: Generalizable Model-Free 6-DoF Object Pose Estimation from RGB Images](https://mlsanity.com/paper/2204.10776/) (2022)
- [Dex-NeRF: Using a Neural Radiance Field to Grasp Transparent Objects](https://mlsanity.com/paper/2110.14217/) (2021)
- [3D Neural Scene Representations for Visuomotor Control](https://mlsanity.com/paper/2107.04004/) (2021)

## Built on by (most cited first, 30 of 55)

- [Scene Coordinate Reconstruction: Posing of Image Collections via Incremental Learning of a Relocalizer](https://mlsanity.com/paper/2404.14351/) (2024)
- [CROSSFIRE: Camera Relocalization On Self-Supervised Features from an Implicit Representation](https://mlsanity.com/paper/2303.04869/) (2023)
- [GS-CPR: Efficient Camera Pose Refinement via 3D Gaussian Splatting](https://mlsanity.com/paper/2408.11085/) (2024)
- [POPE: 6-DoF Promptable Pose Estimation of Any Object, in Any Scene, with One Reference](https://mlsanity.com/paper/2305.15727/) (2023)
- [6DGS: 6D Pose Estimation from a Single Image and a 3D Gaussian Splatting Model](https://mlsanity.com/paper/2407.15484/) (2024)
- [The Unreasonable Effectiveness of Pre-Trained Features for Camera Pose Refinement](https://mlsanity.com/paper/2404.10438/) (2024)
- [Neural Fields in Robotics: A Survey](https://mlsanity.com/paper/2410.20220/) (2024)
- [NViST: In the Wild New View Synthesis from a Single Image with Transformers](https://mlsanity.com/paper/2312.08568/) (2023)
- [Learning to Estimate 6DoF Pose from Limited Data: A Few-Shot, Generalizable Approach using RGB Images](https://mlsanity.com/paper/2306.07598/) (2023)
- [NeRFs in Robotics: A Survey](https://mlsanity.com/paper/2405.01333/) (2024)
- [From Sparse to Dense: Camera Relocalization with Scene-Specific Detector from Feature Gaussian Splatting](https://mlsanity.com/paper/2503.19358/) (2025)
- [AI-Generated Images as Data Source: The Dawn of Synthetic Era](https://mlsanity.com/paper/2310.01830/) (2023)
- [Cinematic Behavior Transfer via NeRF-based Differentiable Filming](https://mlsanity.com/paper/2311.17754/) (2023)
- [Fed3DGS: Scalable 3D Gaussian Splatting with Federated Learning](https://mlsanity.com/paper/2403.11460/) (2024)
- [Diff-DOPE: Differentiable Deep Object Pose Estimation](https://mlsanity.com/paper/2310.00463/) (2023)
- [CF-NeRF: Camera Parameter Free Neural Radiance Fields with Incremental Learning](https://mlsanity.com/paper/2312.08760/) (2023)
- [Gaussian Splatting Feature Fields for Privacy-Preserving Visual Localization](https://mlsanity.com/paper/2507.23569/) (2025)
- [BAA-NGP: Bundle-Adjusting Accelerated Neural Graphics Primitives](https://mlsanity.com/paper/2306.04166/) (2023)
- [Federated Learning for Large-Scale Scene Modeling with Neural Radiance Fields](https://mlsanity.com/paper/2309.06030/) (2023)
- [GeoNLF: Geometry guided Pose-Free Neural LiDAR Fields](https://mlsanity.com/paper/2407.05597/) (2024)
- [NeRFuser: Large-Scale Scene Representation by NeRF Fusion](https://mlsanity.com/paper/2305.13307/) (2023)
- [IFFNeRF: Initialisation Free and Fast 6DoF pose estimation from a single image and a NeRF model](https://mlsanity.com/paper/2403.12682/) (2024)
- [Self-supervised Learning of Neural Implicit Feature Fields for Camera Pose Refinement](https://mlsanity.com/paper/2406.08463/) (2024)
- [Look Gauss, No Pose: Novel View Synthesis using Gaussian Splatting without Accurate Pose Initialization](https://mlsanity.com/paper/2410.08743/) (2024)
- [LoGS: Visual Localization via Gaussian Splatting with Fewer Training Images](https://mlsanity.com/paper/2410.11505/) (2024)
- [Scalable and High-Quality Neural Implicit Representation for 3D Reconstruction](https://mlsanity.com/paper/2501.08577/) (2025)
- [LoD-Loc v2: Aerial Visual Localization over Low Level-of-Detail City Models using Explicit Silhouette Alignment](https://mlsanity.com/paper/2507.00659/) (2025)
- [GSVisLoc: Generalizable Visual Localization for Gaussian Splatting Scene Representations](https://mlsanity.com/paper/2508.18242/) (2025)
- [MELON: NeRF with Unposed Images in SO(3)](https://mlsanity.com/paper/2303.08096/) (2023)
- [Marrying NeRF with Feature Matching for One-step Pose Estimation](https://mlsanity.com/paper/2404.00891/) (2024)

## 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.