mlsanityData to 7 Oct 2026

NoPe-NeRF: Optimising Neural Radiance Field with No Pose Prior

arXiv 2212.07388 ↗First posted 14 Dec 2022cs.CVcited by 235

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Abstract (arXiv)

Training a Neural Radiance Field (NeRF) without pre-computed camera poses is challenging. Recent advances in this direction demonstrate the possibility of jointly optimising a NeRF and camera poses in forward-facing scenes. However, these methods still face difficulties during dramatic camera movement. We tackle this challenging problem by incorporating undistorted monocular depth priors. These priors are generated by correcting scale and shift parameters during training, with which we are then able to constrain the relative poses between consecutive frames. This constraint is achieved using our proposed novel loss functions. Experiments on real-world indoor and outdoor scenes show that our method can handle challenging camera trajectories and outperforms existing methods in terms of novel view rendering quality and pose estimation accuracy. Our project page is https://nope-nerf.active.vision.

Key facts. Cited by 235 papers in the map (data through 7 Oct 2026). Builds on 50 of its 64 references that are in the map. First posted on arXiv 14 Dec 2022.

Builds on

50 of 64 references.

References · 50

  1. 2014Adam: A Method for Stochastic Optimizationcited by 36,960
  2. 2014Very Deep Convolutional Networks for Large-Scale Image Recognitioncited by 15,267
  3. 2018The Unreasonable Effectiveness of Deep Features as a Perceptual Metriccited by 11,029
  4. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,698
  5. 2017ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenescited by 3,088
  6. 2020Implicit Neural Representations with Periodic Activation Functionscited by 2,214
  7. 2021Vision Transformers for Dense Predictioncited by 1,789
  8. 2021NeuS: Learning Neural Implicit Surfaces by Volume Rendering for Multi-view Reconstructioncited by 1,701
  9. 2021Plenoxels: Radiance Fields without Neural Networkscited by 1,607
  10. 2020pixelNeRF: Neural Radiance Fields from One or Few Imagescited by 1,574
  11. 2019Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfercited by 1,484
  12. 2022TensoRF: Tensorial Radiance Fieldscited by 1,275
38 more
  1. 2021Volume Rendering of Neural Implicit Surfacescited by 990
  2. 2020NeRF++: Analyzing and Improving Neural Radiance Fieldscited by 857
  3. 2017Unsupervised Learning of Depth and Ego-Motion from Videocited by 778
  4. 2020Neural Scene Flow Fields for Space-Time View Synthesis of Dynamic Scenescited by 750
  5. 2021Depth-supervised NeRF: Fewer Views and Faster Training for Freecited by 732
  6. 2018Deep Ordinal Regression Network for Monocular Depth Estimationcited by 721
  7. 2021IBRNet: Learning Multi-View Image-Based Renderingcited by 698
  8. 2019Local Light Field Fusion: Practical View Synthesis with Prescriptive Sampling Guidelinescited by 672
  9. 2021UNISURF: Unifying Neural Implicit Surfaces and Radiance Fields for Multi-View Reconstructioncited by 643
  10. 2021BARF: Bundle-Adjusting Neural Radiance Fieldscited by 641
  11. 2021RegNeRF: Regularizing Neural Radiance Fields for View Synthesis from Sparse Inputscited by 614
  12. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 586
  13. 2021FastNeRF: High-Fidelity Neural Rendering at 200FPScited by 510
  14. 2021iMAP: Implicit Mapping and Positioning in Real-Timecited by 476
  15. 2022MonoSDF: Exploring Monocular Geometric Cues for Neural Implicit Surface Reconstructioncited by 467
  16. 2021Dynamic View Synthesis from Dynamic Monocular Videocited by 420
  17. 2020INeRF: Inverting Neural Radiance Fields for Pose Estimationcited by 381
  18. 2021Dense Depth Priors for Neural Radiance Fields from Sparse Input Viewscited by 301
  19. 2020Single-View View Synthesis with Multiplane Imagescited by 263
  20. 2020Free View Synthesiscited by 231
  21. 2020Consistent Video Depth Estimationcited by 220
  22. 2021Self-Calibrating Neural Radiance Fieldscited by 204
  23. 2021NerfingMVS: Guided Optimization of Neural Radiance Fields for Indoor Multi-view Stereocited by 191
  24. 2020Robust Consistent Video Depth Estimationcited by 188
  25. 2022NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fieldscited by 188
  26. 2020GRF: Learning a General Radiance Field for 3D Representation and Renderingcited by 183
  27. 2021InfoNeRF: Ray Entropy Minimization for Few-Shot Neural Volume Renderingcited by 180
  28. 2015Learning Depth from Single Monocular Images Using Deep Convolutional Neural Fieldscited by 169
  29. 2020Stable View Synthesiscited by 165
  30. 2021NeRF--: Neural Radiance Fields Without Known Camera Parameterscited by 155
  31. 2021GNeRF: GAN-based Neural Radiance Field without Posed Cameracited by 153
  32. 2021Boosting Monocular Depth Estimation Models to High-Resolution via Content-Adaptive Multi-Resolution Mergingcited by 104
  33. 2022GARF: Gaussian Activated Radiance Fields for High Fidelity Reconstruction and Pose Estimationcited by 86
  34. 2018Layer-structured 3D Scene Inference via View Synthesiscited by 82
  35. 2022SC-DepthV3: Robust Self-supervised Monocular Depth Estimation for Dynamic Scenescited by 50
  36. 2022SiNeRF: Sinusoidal Neural Radiance Fields for Joint Pose Estimation and Scene Reconstructioncited by 49
  37. 2022Towards Accurate Reconstruction of 3D Scene Shape from A Single Monocular Imagecited by 42
  38. 2022Ray Priors through Reprojection: Improving Neural Radiance Fields for Novel View Extrapolationcited by 26

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2022: 1; 2023: 50; 2024: 98; 2025: 71; 2026: 15.

235 papers.

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  1. 2023DrivingGaussian: Composite Gaussian Splatting for Surrounding Dynamic Autonomous Driving Scenescited by 359
  2. 20243D Reconstruction with Spatial Memorycited by 269
  3. 2024DNGaussian: Optimizing Sparse-View 3D Gaussian Radiance Fields with Global-Local Depth Normalizationcited by 256
  4. 2024No Pose, No Problem: Surprisingly Simple 3D Gaussian Splats from Sparse Unposed Imagescited by 241
  5. 2023COLMAP-Free 3D Gaussian Splattingcited by 193
  6. 2025FLARE: Feed-forward Geometry, Appearance and Camera Estimation from Uncalibrated Sparse Viewscited by 176
  7. 2023Depth-Regularized Optimization for 3D Gaussian Splatting in Few-Shot Imagescited by 172
  8. 2024Splatt3R: Zero-shot Gaussian Splatting from Uncalibrated Image Pairscited by 171
  9. 2023NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAMcited by 162
  10. 2024MASt3R-SfM: a Fully-Integrated Solution for Unconstrained Structure-from-Motioncited by 161
  11. 2023Point-SLAM: Dense Neural Point Cloud-based SLAMcited by 160
  12. 2023Gaussian-SLAM: Photo-realistic Dense SLAM with Gaussian Splattingcited by 152
38 more
  1. 2024MV-DUSt3R+: Single-Stage Scene Reconstruction from Sparse Views In 2 Secondscited by 136
  2. 2024textitS3Gaussian: Self-Supervised Street Gaussians for Autonomous Drivingcited by 105
  3. 2024FreGS: 3D Gaussian Splatting with Progressive Frequency Regularizationcited by 103
  4. 2024DreamScene360: Unconstrained Text-to-3D Scene Generation with Panoramic Gaussian Splattingcited by 81
  5. 2024Align3R: Aligned Monocular Depth Estimation for Dynamic Videoscited by 79
  6. 2025RayZer: A Self-supervised Large View Synthesis Modelcited by 74
  7. 2024Scene Coordinate Reconstruction: Posing of Image Collections via Incremental Learning of a Relocalizercited by 73
  8. 2024Large Spatial Model: End-to-end Unposed Images to Semantic 3Dcited by 73
  9. 2024InstantSplat: Sparse-view Gaussian Splatting in Secondscited by 67
  10. 2024DreamScene4D: Dynamic Multi-Object Scene Generation from Monocular Videoscited by 63
  11. 2024MotionGS: Exploring Explicit Motion Guidance for Deformable 3D Gaussian Splattingcited by 62
  12. 2024FlowMap: High-Quality Camera Poses, Intrinsics, and Depth via Gradient Descentcited by 61
  13. 2024PF3plat: Pose-Free Feed-Forward 3D Gaussian Splattingcited by 60
  14. 2023Tetra-NeRF: Representing Neural Radiance Fields Using Tetrahedracited by 57
  15. 2023CamP: Camera Preconditioning for Neural Radiance Fieldscited by 55
  16. 2024Loopy-SLAM: Dense Neural SLAM with Loop Closurescited by 48
  17. 2024GFlow: Recovering 4D World from Monocular Videocited by 46
  18. 2023SimpleNeRF: Regularizing Sparse Input Neural Radiance Fields with Simpler Solutionscited by 44
  19. 2023Masked Space-Time Hash Encoding for Efficient Dynamic Scene Reconstructioncited by 43
  20. 2024Superpoint Gaussian Splatting for Real-Time High-Fidelity Dynamic Scene Reconstructioncited by 43
  21. 2024SelfSplat: Pose-Free and 3D Prior-Free Generalizable 3D Gaussian Splattingcited by 40
  22. 2023FlowCam: Training Generalizable 3D Radiance Fields without Camera Poses via Pixel-Aligned Scene Flowcited by 38
  23. 2025No Pose at All: Self-Supervised Pose-Free 3D Gaussian Splatting from Sparse Viewscited by 38
  24. 2023Neural Refinement for Absolute Pose Regression with Feature Synthesiscited by 37
  25. 2023Unifying Correspondence, Pose and NeRF for Pose-Free Novel View Synthesis from Stereo Pairscited by 37
  26. 2025Instant Gaussian Stream: Fast and Generalizable Streaming of Dynamic Scene Reconstruction via Gaussian Splattingcited by 35
  27. 2023LU-NeRF: Scene and Pose Estimation by Synchronizing Local Unposed NeRFscited by 33
  28. 2024Relaxing Accurate Initialization Constraint for 3D Gaussian Splattingcited by 33
  29. 2024MVPGS: Excavating Multi-view Priors for Gaussian Splatting from Sparse Input Viewscited by 29
  30. 2025What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Modelscited by 29
  31. 2024Feat2GS: Probing Visual Foundation Models with Gaussian Splattingcited by 26
  32. 2023DaRF: Boosting Radiance Fields from Sparse Inputs with Monocular Depth Adaptationcited by 25
  33. 2024DS-NeRV: Implicit Neural Video Representation with Decomposed Static and Dynamic Codescited by 25
  34. 2024A Construct-Optimize Approach to Sparse View Synthesis without Camera Posecited by 25
  35. 2024LM-Gaussian: Boost Sparse-view 3D Gaussian Splatting with Large Model Priorscited by 25
  36. 2023Interactive Segment Anything NeRF with Feature Imitationcited by 24
  37. 2024NerfBaselines: Consistent and Reproducible Evaluation of Novel View Synthesis Methodscited by 24
  38. 2023DNS SLAM: Dense Neural Semantic-Informed SLAMcited by 23

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