mlsanityData to 14 Oct 2026

Bayes' Rays: Uncertainty Quantification for Neural Radiance Fields

arXiv 2309.03185 ↗First posted 6 Sep 2023cs.CVcited by 91

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Abstract (arXiv)

Neural Radiance Fields (NeRFs) have shown promise in applications like view synthesis and depth estimation, but learning from multiview images faces inherent uncertainties. Current methods to quantify them are either heuristic or computationally demanding. We introduce BayesRays, a post-hoc framework to evaluate uncertainty in any pre-trained NeRF without modifying the training process. Our method establishes a volumetric uncertainty field using spatial perturbations and a Bayesian Laplace approximation. We derive our algorithm statistically and show its superior performance in key metrics and applications. Additional results available at: https://bayesrays.github.io.

Key facts. Cited by 91 papers in the map (data through 14 Oct 2026). Builds on 36 of its 60 references that are in the map. First posted on arXiv 6 Sep 2023.

Builds on

36 of 60 references.

References · 36

  1. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 6,226
  2. 2016Simple and Scalable Predictive Uncertainty Estimation using Deep Ensemblescited by 3,926
  3. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,723
  4. 2017What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?cited by 2,352
  5. 2021Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fieldscited by 2,032
  6. 2021Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fieldscited by 1,964
  7. 2020NeRF in the Wild: Neural Radiance Fields for Unconstrained Photo Collectionscited by 1,232
  8. 2020NeRF++: Analyzing and Improving Neural Radiance Fieldscited by 861
  9. 2020A Review of Uncertainty Quantification in Deep Learning: Techniques, Applications and Challengescited by 819
  10. 2021Depth-supervised NeRF: Fewer Views and Faster Training for Freecited by 735
  11. 2021RegNeRF: Regularizing Neural Radiance Fields for View Synthesis from Sparse Inputscited by 615
  12. 2023Nerfstudio: A Modular Framework for Neural Radiance Field Developmentcited by 600
24 more
  1. 2015Weight Uncertainty in Neural Networkscited by 554
  2. 2021Laplace Redux -- Effortless Bayesian Deep Learningcited by 365
  3. 2021NerfingMVS: Guided Optimization of Neural Radiance Fields for Indoor Multi-view Stereocited by 192
  4. 2021NEAT: Neural Attention Fields for End-to-End Autonomous Drivingcited by 174
  5. 2017Optimizing the Latent Space of Generative Networkscited by 157
  6. 2018Uncertainty Estimates and Multi-Hypotheses Networks for Optical Flowcited by 135
  7. 2022ActiveNeRF: Learning where to See with Uncertainty Estimationcited by 127
  8. 2021Estimating and Exploiting the Aleatoric Uncertainty in Surface Normal Estimationcited by 116
  9. 2020Stochastic Segmentation Networks: Modelling Spatially Correlated Aleatoric Uncertaintycited by 101
  10. 2023RobustNeRF: Ignoring Distractors with Robust Lossescited by 101
  11. 2021LOLNeRF: Learn from One Lookcited by 84
  12. 2021Stochastic Neural Radiance Fields: Quantifying Uncertainty in Implicit 3D Representationscited by 82
  13. 2023Nerfbusters: Removing Ghostly Artifacts from Casually Captured NeRFscited by 76
  14. 2022Conditional-Flow NeRF: Accurate 3D Modelling with Reliable Uncertainty Quantificationcited by 73
  15. 2022Density-aware NeRF Ensembles: Quantifying Predictive Uncertainty in Neural Radiance Fieldscited by 60
  16. 2020Neural Ensemble Search for Uncertainty Estimation and Dataset Shiftcited by 56
  17. 2022NeurAR: Neural Uncertainty for Autonomous 3D Reconstruction with Implicit Neural Representationscited by 55
  18. 2023CamP: Camera Preconditioning for Neural Radiance Fieldscited by 55
  19. 2023NeU-NBV: Next Best View Planning Using Uncertainty Estimation in Image-Based Neural Renderingcited by 54
  20. 2022Volume Rendering Digest (for NeRF)cited by 32
  21. 2023Active Neural Mappingcited by 31
  22. 2022ActiveRMAP: Radiance Field for Active Mapping And Planningcited by 30
  23. 2021Implicit field learning for unsupervised anomaly detection in medical imagescited by 17
  24. 2022ProbNeRF: Uncertainty-Aware Inference of 3D Shapes from 2D Imagescited by 12

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Cited by year (2026 to 14 Oct)

Citing papers per year: 2023: 11; 2024: 24; 2025: 30; 2026: 26.

91 papers.

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  1. 20243D Gaussian Splatting as Markov Chain Monte Carlocited by 217
  2. 2024PUP 3D-GS: Principled Uncertainty Pruning for 3D Gaussian Splattingcited by 95
  3. 2024NeRF On-the-go: Exploiting Uncertainty for Distractor-free NeRFs in the Wildcited by 85
  4. 2023FisherRF: Active View Selection and Uncertainty Quantification for Radiance Fields using Fisher Informationcited by 64
  5. 2023NeRFiller: Completing Scenes via Generative 3D Inpaintingcited by 62
  6. 2024Position: Bayesian Deep Learning is Needed in the Age of Large-Scale AIcited by 62
  7. 2024SpotlessSplats: Ignoring Distractors in 3D Gaussian Splattingcited by 61
  8. 2024NARUTO: Neural Active Reconstruction from Uncertain Target Observationscited by 28
  9. 2025FlowR: Flowing from Sparse to Dense 3D Reconstructionscited by 28
  10. 2024Drone-assisted Road Gaussian Splatting with Cross-view Uncertaintycited by 20
  11. 2024Modeling uncertainty for Gaussian Splattingcited by 19
  12. 2025POp-GS: Next Best View in 3D-Gaussian Splatting with P-Optimalitycited by 18
38 more
  1. 2025GauSS-MI: Gaussian Splatting Shannon Mutual Information for Active 3D Reconstructioncited by 17
  2. 2023Accelerating Neural Field Training via Soft Miningcited by 15
  3. 2024AONeuS: A Neural Rendering Framework for Acoustic-Optical Sensor Fusioncited by 13
  4. 2024The Role of Predictive Uncertainty and Diversity in Embodied AI and Robot Learningcited by 11
  5. 2024Sources of Uncertainty in 3D Scene Reconstructioncited by 10
  6. 2024Bayesian NeRF: Quantifying Uncertainty with Volume Density for Neural Implicit Fieldscited by 9
  7. 2024Multimodal LLM Guided Exploration and Active Mapping using Fisher Informationcited by 9
  8. 2024Active Neural Mapping at Scalecited by 8
  9. 2024Distractor-free Generalizable 3D Gaussian Splattingcited by 8
  10. 2024NeRF-US: Removing Ultrasound Imaging Artifacts from Neural Radiance Fields in the Wildcited by 7
  11. 2025PhysGS: Bayesian-Inferred Gaussian Splatting for Physical Property Estimationcited by 7
  12. 2024Regularized Multi-Decoder Ensemble for an Error-Aware Scene Representation Networkcited by 6
  13. 2025These Magic Moments: Differentiable Uncertainty Quantification of Radiance Field Modelscited by 6
  14. 2025PRIMU: Uncertainty Estimation for Novel Views in Gaussian Splatting from Primitive-Based Representations of Error and Coveragecited by 6
  15. 2023SO-NeRF: Active View Planning for NeRF using Surrogate Objectivescited by 5
  16. 2025Uncertainty-Aware Normal-Guided Gaussian Splatting for Surface Reconstruction from Sparse Image Sequencescited by 5
  17. 2025View-Dependent Uncertainty Estimation of 3D Gaussian Splattingcited by 5
  18. 2026Predictive Photometric Uncertainty in Gaussian Splatting for Novel View Synthesiscited by 5
  19. 2026Uncertainty-driven 3D Gaussian Splatting Active Mapping via Anisotropic Visibility Fieldcited by 5
  20. 2023SCALAR-NeRF: SCAlable LARge-scale Neural Radiance Fields for Scene Reconstructioncited by 4
  21. 2025Auto3R: Automated 3D Reconstruction and Scanning via Data-driven Uncertainty Quantificationcited by 4
  22. 2025AREA3D: Active Reconstruction Agent with Unified Feed-Forward 3D Perception and Vision-Language Guidancecited by 4
  23. 2026Evidential Neural Radiance Fieldscited by 4
  24. 2023Instant Uncertainty Calibration of NeRFs Using a Meta-Calibratorcited by 3
  25. 2024ProvNeRF: Modeling per Point Provenance in NeRFs as a Stochastic Fieldcited by 3
  26. 2024Puzzle Similarity: A Perceptually-guided Cross-Reference Metric for Artifact Detection in 3D Scene Reconstructionscited by 3
  27. 2024Uni-SLAM: Uncertainty-Aware Neural Implicit SLAM for Real-Time Dense Indoor Scene Reconstructioncited by 3
  28. 2025SiLVR: Scalable Lidar-Visual Radiance Field Reconstruction with Uncertainty Quantificationcited by 3
  29. 2025Uncertainty-Aware Diffusion Guided Refinement of 3D Scenescited by 3
  30. 2025WarpRF: Multi-View Consistency for Training-Free Uncertainty Quantification and Applications in Radiance Fieldscited by 3
  31. 2026VarSplat: Uncertainty-aware 3D Gaussian Splatting for Robust RGB-D SLAMcited by 3
  32. 2026Confidence-Based Mesh Extraction from 3D Gaussianscited by 3
  33. 2024Diversity-Driven View Subset Selection for Indoor Novel View Synthesiscited by 2
  34. 2025DNRSelect: Active Best View Selection for Deferred Neural Renderingcited by 2
  35. 2025Fillerbuster: Unified Generative Scene Completion Model for Casual Capturescited by 2
  36. 2025PUGS: Perceptual Uncertainty for Grasp Selection in Underwater Environmentscited by 2
  37. 2025Metadata-free Georegistration of Ground and Airborne Imagerycited by 2
  38. 2025Tile and Slide : A New Framework for Scaling NeRF from Local to Global 3D Earth Observationcited by 2

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