mlsanityData to 7 Oct 2026

RobustNeRF: Ignoring Distractors with Robust Losses

arXiv 2302.00833 ↗First posted 2 Feb 2023cs.CV cs.LGcited by 101

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Abstract (arXiv)

Neural radiance fields (NeRF) excel at synthesizing new views given multi-view, calibrated images of a static scene. When scenes include distractors, which are not persistent during image capture (moving objects, lighting variations, shadows), artifacts appear as view-dependent effects or 'floaters'. To cope with distractors, we advocate a form of robust estimation for NeRF training, modeling distractors in training data as outliers of an optimization problem. Our method successfully removes outliers from a scene and improves upon our baselines, on synthetic and real-world scenes. Our technique is simple to incorporate in modern NeRF frameworks, with few hyper-parameters. It does not assume a priori knowledge of the types of distractors, and is instead focused on the optimization problem rather than pre-processing or modeling transient objects. More results on our page https://robustnerf.github.io.

Key facts. Cited by 101 papers in the map (data through 7 Oct 2026). Builds on 49 of its 60 references that are in the map. First posted on arXiv 2 Feb 2023.

Builds on

49 of 60 references.

References · 49

  1. 2018The Unreasonable Effectiveness of Deep Features as a Perceptual Metriccited by 11,029
  2. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,698
  3. 2022DreamFusion: Text-to-3D using 2D Diffusioncited by 3,006
  4. 2021Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fieldscited by 2,013
  5. 2021Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fieldscited by 1,957
  6. 2021NeuS: Learning Neural Implicit Surfaces by Volume Rendering for Multi-view Reconstructioncited by 1,701
  7. 2020pixelNeRF: Neural Radiance Fields from One or Few Imagescited by 1,574
  8. 2020D-NeRF: Neural Radiance Fields for Dynamic Scenescited by 1,459
  9. 2020NeRF in the Wild: Neural Radiance Fields for Unconstrained Photo Collectionscited by 1,230
  10. 2019Scene Representation Networks: Continuous 3D-Structure-Aware Neural Scene Representationscited by 864
  11. 2020NeRF++: Analyzing and Improving Neural Radiance Fieldscited by 857
  12. 2020Neural Scene Flow Fields for Space-Time View Synthesis of Dynamic Scenescited by 750
37 more
  1. 2022Block-NeRF: Scalable Large Scene Neural View Synthesiscited by 720
  2. 2021Common Objects in 3D: Large-Scale Learning and Evaluation of Real-life 3D Category Reconstructioncited by 646
  3. 2021UNISURF: Unifying Neural Implicit Surfaces and Radiance Fields for Multi-View Reconstructioncited by 643
  4. 2021BARF: Bundle-Adjusting Neural Radiance Fieldscited by 641
  5. 2021RegNeRF: Regularizing Neural Radiance Fields for View Synthesis from Sparse Inputscited by 614
  6. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 586
  7. 2021Ref-NeRF: Structured View-Dependent Appearance for Neural Radiance Fieldscited by 569
  8. 2020Non-Rigid Neural Radiance Fields: Reconstruction and Novel View Synthesis of a Dynamic Scene From Monocular Videocited by 470
  9. 2022MonoSDF: Exploring Monocular Geometric Cues for Neural Implicit Surface Reconstructioncited by 467
  10. 2021Baking Neural Radiance Fields for Real-Time View Synthesiscited by 465
  11. 2021Dynamic View Synthesis from Dynamic Monocular Videocited by 420
  12. 2020Space-time Neural Irradiance Fields for Free-Viewpoint Videocited by 414
  13. 2022Kubric: A scalable dataset generatorcited by 373
  14. 2021Advances in Neural Renderingcited by 365
  15. 2022Fast Dynamic Radiance Fields with Time-Aware Neural Voxelscited by 344
  16. 2021NeRF in the Dark: High Dynamic Range View Synthesis from Noisy Raw Imagescited by 336
  17. 2022MobileNeRF: Exploiting the Polygon Rasterization Pipeline for Efficient Neural Field Rendering on Mobile Architecturescited by 308
  18. 2020Neural Radiance Flow for 4D View Synthesis and Video Processingcited by 270
  19. 2021Urban Radiance Fieldscited by 263
  20. 2017A General and Adaptive Robust Loss Functioncited by 236
  21. 2021HyperNeRF: A Higher-Dimensional Representation for Topologically Varying Neural Radiance Fieldscited by 210
  22. 2021Self-Calibrating Neural Radiance Fieldscited by 204
  23. 2022NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fieldscited by 188
  24. 2021Deblur-NeRF: Neural Radiance Fields from Blurry Imagescited by 179
  25. 2019Neural Volumes: Learning Dynamic Renderable Volumes from Imagescited by 173
  26. 2021Vision-Only Robot Navigation in a Neural Radiance Worldcited by 153
  27. 2022D2NeRF: Self-Supervised Decoupling of Dynamic and Static Objects from a Monocular Videocited by 136
  28. 2022NeuRIS: Neural Reconstruction of Indoor Scenes Using Normal Priorscited by 125
  29. 2021NeSF: Neural Semantic Fields for Generalizable Semantic Segmentation of 3D Scenescited by 119
  30. 2022DeVRF: Fast Deformable Voxel Radiance Fields for Dynamic Scenescited by 103
  31. 2022RelPose: Predicting Probabilistic Relative Rotation for Single Objects in the Wildcited by 102
  32. 2022SAMURAI: Shape And Material from Unconstrained Real-world Arbitrary Image collectionscited by 89
  33. 2022ReLU Fields: The Little Non-linearity That Couldcited by 87
  34. 2021Neural Trajectory Fields for Dynamic Novel View Synthesiscited by 85
  35. 2021LOLNeRF: Learn from One Lookcited by 84
  36. 2021NeuralDiff: Segmenting 3D objects that move in egocentric videoscited by 56
  37. 2022Volume Rendering Digest (for NeRF)cited by 31

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2023: 13; 2024: 33; 2025: 27; 2026: 28.

101 papers.

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  1. 2023DrivingGaussian: Composite Gaussian Splatting for Surrounding Dynamic Autonomous Driving Scenescited by 359
  2. 2025Difix3D+: Improving 3D Reconstructions with Single-Step Diffusion Modelscited by 160
  3. 2024WildGaussians: 3D Gaussian Splatting in the Wildcited by 150
  4. 2023Language Embedded Radiance Fields for Zero-Shot Task-Oriented Graspingcited by 91
  5. 2023Bayes' Rays: Uncertainty Quantification for Neural Radiance Fieldscited by 90
  6. 2024NeRF On-the-go: Exploiting Uncertainty for Distractor-free NeRFs in the Wildcited by 85
  7. 2024PUP 3D-GS: Principled Uncertainty Pruning for 3D Gaussian Splattingcited by 85
  8. 2023Nerfbusters: Removing Ghostly Artifacts from Casually Captured NeRFscited by 76
  9. 2024SpotlessSplats: Ignoring Distractors in 3D Gaussian Splattingcited by 61
  10. 2024DreamDrive: Generative 4D Scene Modeling from Street View Imagescited by 35
  11. 2024Bilateral Guided Radiance Field Processingcited by 28
  12. 2024Splatfacto-W: A Nerfstudio Implementation of Gaussian Splatting for Unconstrained Photo Collectionscited by 28
38 more
  1. 2024NeRF-HuGS: Improved Neural Radiance Fields in Non-static Scenes Using Heuristics-Guided Segmentationcited by 25
  2. 2024UW-GS: Distractor-Aware 3D Gaussian Splatting for Enhanced Underwater Scene Reconstructioncited by 23
  3. 2025GaussGym: An open-source real-to-sim framework for learning locomotion from pixelscited by 22
  4. 2023DReg-NeRF: Deep Registration for Neural Radiance Fieldscited by 21
  5. 2024FruitNeRF: A Unified Neural Radiance Field based Fruit Counting Frameworkcited by 21
  6. 2024RoMo: Robust Motion Segmentation Improves Structure from Motioncited by 20
  7. 2025DroneSplat: 3D Gaussian Splatting for Robust 3D Reconstruction from In-the-Wild Drone Imagerycited by 20
  8. 2025Emergent Outlier View Rejection in Visual Geometry Grounded Transformerscited by 19
  9. 2025RealX3D: A Physically-Degraded 3D Benchmark for Multi-view Visual Restoration and Reconstructioncited by 19
  10. 2024Multiagent Multitraversal Multimodal Self-Driving: Open MARS Datasetcited by 18
  11. 2024HybridGS: Decoupling Transients and Statics with 2D and 3D Gaussian Splattingcited by 16
  12. 2025DeGauss: Dynamic-Static Decomposition with Gaussian Splatting for Distractor-free 3D Reconstructioncited by 16
  13. 2024DeSplat: Decomposed Gaussian Splatting for Distractor-Free Renderingcited by 15
  14. 2024RoDUS: Robust Decomposition of Static and Dynamic Elements in Urban Scenescited by 14
  15. 2024SAT-NGP : Unleashing Neural Graphics Primitives for Fast Relightable Transient-Free 3D reconstruction from Satellite Imagerycited by 14
  16. 2024Robust 3D Gaussian Splatting for Novel View Synthesis in Presence of Distractorscited by 14
  17. 2024T-3DGS: Removing Transient Objects for 3D Scene Reconstructioncited by 13
  18. 2023UP-NeRF: Unconstrained Pose-Prior-Free Neural Radiance Fieldscited by 12
  19. 2024Neural Radiance Field-based Visual Rendering: A Comprehensive Reviewcited by 12
  20. 2025Neural Radiance Fields for the Real World: A Surveycited by 12
  21. 20254D Gaussian Splatting SLAMcited by 10
  22. 2025RobustSplat: Decoupling Densification and Dynamics for Transient-Free 3DGScited by 10
  23. 2024Sources of Uncertainty in 3D Scene Reconstructioncited by 9
  24. 2025Learning-based 3D Reconstruction in Autonomous Driving: A Comprehensive Surveycited by 9
  25. 2023Incorporating Season and Solar Specificity into Renderings made by a NeRF Architecture using Satellite Imagescited by 8
  26. 2024Entity-NeRF: Detecting and Removing Moving Entities in Urban Scenescited by 8
  27. 2024LoopGaussian: Creating 3D Cinemagraph with Multi-view Images via Eulerian Motion Fieldcited by 8
  28. 2024Memorize What Matters: Emergent Scene Decomposition from Multitraversecited by 8
  29. 2024Distractor-free Generalizable 3D Gaussian Splattingcited by 8
  30. 2025AquaNeRF: Neural Radiance Fields in Underwater Media with Distractor Removalcited by 8
  31. 2026World Reconstruction From Inconsistent Viewscited by 8
  32. 2024NexusSplats: Efficient 3D Gaussian Splatting in the Wildcited by 7
  33. 2023C-NERF: Representing Scene Changes as Directional Consistency Difference-based NeRFcited by 6
  34. 2025Sat-DN: Implicit Surface Reconstruction from Multi-View Satellite Images with Depth and Normal Supervisioncited by 6
  35. 2025ForestSplats: Deformable transient field for Gaussian Splatting in the Wildcited by 6
  36. 2025UP-SLAM: Adaptively Structured Gaussian SLAM with Uncertainty Prediction in Dynamic Environmentscited by 6
  37. 2025Robust Neural Rendering in the Wild with Asymmetric Dual 3D Gaussian Splattingcited by 6
  38. 2025WorldWarp: Propagating 3D Geometry with Asynchronous Video Diffusioncited by 6

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