mlsanityData to 14 Oct 2026

Federated Learning for Large-Scale Scene Modeling with Neural Radiance Fields

arXiv 2309.06030 ↗First posted 12 Sep 2023cs.CVcited by 8

Not on the map. Why?

Abstract (arXiv)

We envision a system to continuously build and maintain a map based on earth-scale neural radiance fields (NeRF) using data collected from vehicles and drones in a lifelong learning manner. However, existing large-scale modeling by NeRF has problems in terms of scalability and maintainability when modeling earth-scale environments. Therefore, to address these problems, we propose a federated learning pipeline for large-scale modeling with NeRF. We tailor the model aggregation pipeline in federated learning for NeRF, thereby allowing local updates of NeRF. In the aggregation step, the accuracy of the clients' global pose is critical. Thus, we also propose global pose alignment to align the noisy global pose of clients before the aggregation step. In experiments, we show the effectiveness of the proposed pose alignment and the federated learning pipeline on the large-scale scene dataset, Mill19.

Key facts. Cited by 8 papers in the map (data through 14 Oct 2026). Builds on 35 of its 44 references that are in the map. First posted on arXiv 12 Sep 2023.

Builds on

35 of 44 references.

References · 35

  1. 2014Adam: A Method for Stochastic Optimizationcited by 37,240
  2. 2016Communication-Efficient Learning of Deep Networks from Decentralized Datacited by 7,669
  3. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,723
  4. 2021Masked-attention Mask Transformer for Universal Image Segmentationcited by 2,351
  5. 2021Plenoxels: Radiance Fields without Neural Networkscited by 1,613
  6. 2020pixelNeRF: Neural Radiance Fields from One or Few Imagescited by 1,584
  7. 2020NeRF in the Wild: Neural Radiance Fields for Unconstrained Photo Collectionscited by 1,232
  8. 2015ORB-SLAM: a Versatile and Accurate Monocular SLAM Systemcited by 988
  9. 2021PlenOctrees for Real-time Rendering of Neural Radiance Fieldscited by 905
  10. 2021Depth-supervised NeRF: Fewer Views and Faster Training for Freecited by 735
  11. 2022Block-NeRF: Scalable Large Scene Neural View Synthesiscited by 724
  12. 2021DROID-SLAM: Deep Visual SLAM for Monocular, Stereo, and RGB-D Camerascited by 687
23 more
  1. 2021BARF: Bundle-Adjusting Neural Radiance Fieldscited by 642
  2. 2021NICE-SLAM: Neural Implicit Scalable Encoding for SLAMcited by 589
  3. 2021FastNeRF: High-Fidelity Neural Rendering at 200FPScited by 511
  4. 2021iMAP: Implicit Mapping and Positioning in Real-Timecited by 476
  5. 2021Mega-NeRF: Scalable Construction of Large-Scale NeRFs for Virtual Fly-Throughscited by 398
  6. 2020INeRF: Inverting Neural Radiance Fields for Pose Estimationcited by 382
  7. 2022Decomposing NeRF for Editing via Feature Field Distillationcited by 371
  8. 2018Client Selection for Federated Learning with Heterogeneous Resources in Mobile Edgecited by 352
  9. 2019Asynchronous Federated Optimizationcited by 267
  10. 2022Panoptic Neural Fields: A Semantic Object-Aware Neural Scene Representationcited by 243
  11. 2022NoPe-NeRF: Optimising Neural Radiance Field with No Pose Priorcited by 235
  12. 2021Pixel-Perfect Structure-from-Motion with Featuremetric Refinementcited by 200
  13. 2021InfoNeRF: Ray Entropy Minimization for Few-Shot Neural Volume Renderingcited by 182
  14. 2019Privacy-preserving Federated Brain Tumour Segmentationcited by 169
  15. 2021Vision-Only Robot Navigation in a Neural Radiance Worldcited by 155
  16. 2020Federated Unsupervised Representation Learningcited by 93
  17. 2022Divergence-aware Federated Self-Supervised Learningcited by 73
  18. 2022Loc-NeRF: Monte Carlo Localization using Neural Radiance Fieldscited by 69
  19. 2022Parallel Inversion of Neural Radiance Fields for Robust Pose Estimationcited by 55
  20. 2023Renderable Neural Radiance Map for Visual Navigationcited by 51
  21. 2022MeSLAM: Memory Efficient SLAM based on Neural Fieldscited by 10
  22. 2019Tabulated MLP for Fast Point Feature Embeddingcited by 2
  23. 2020Irregularly Tabulated MLP for Fast Point Feature Embeddingcited by 2

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2024: 4; 2025: 2; 2026: 2.

8 papers.

  1. 2025CityGS-X: A Scalable Architecture for Efficient and Geometrically Accurate Large-Scale Scene Reconstructioncited by 26
  2. 2024Fed3DGS: Scalable 3D Gaussian Splatting with Federated Learningcited by 12
  3. 2024DecentNeRFs: Decentralized Neural Radiance Fields from Crowdsourced Imagescited by 4
  4. 2024Learn to Memorize and to Forget: A Continual Learning Perspective of Dynamic SLAMcited by 4
  5. 2024Federated Multi-Agent Mapping for Planetary Explorationcited by 2
  6. 2025FedMeNF: Privacy-Preserving Federated Meta-Learning for Neural Fieldscited by 1
  7. 2026Tiny-DroNeRF: Tiny Neural Radiance Fields aboard Federated Learning-enabled Nano-dronescited by 0
  8. 2026Federated 3D Gaussian Splatting for Large-Scale Scene Reconstruction at Wireless Edgecited by 0