mlsanityData to 14 Oct 2026

Object Registration in Neural Fields

arXiv 2404.18381 ↗First posted 29 Apr 2024cs.RO cs.CVcited by 0

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Abstract (arXiv)

Neural fields provide a continuous scene representation of 3D geometry and appearance in a way which has great promise for robotics applications. One functionality that unlocks unique use-cases for neural fields in robotics is object 6-DoF registration. In this paper, we provide an expanded analysis of the recent Reg-NF neural field registration method and its use-cases within a robotics context. We showcase the scenario of determining the 6-DoF pose of known objects within a scene using scene and object neural field models. We show how this may be used to better represent objects within imperfectly modelled scenes and generate new scenes by substituting object neural field models into the scene.

Key facts. No citing papers in the map yet (data through 14 Oct 2026). Builds on 12 of its 19 references that are in the map. First posted on arXiv 29 Apr 2024.

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12 of 19 references.

References · 12

  1. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,723
  2. 2019DeepSDF: Learning Continuous Signed Distance Functions for Shape Representationcited by 2,689
  3. 2021Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fieldscited by 2,032
  4. 2021Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fieldscited by 1,964
  5. 2021NeuS: Learning Neural Implicit Surfaces by Volume Rendering for Multi-view Reconstructioncited by 1,712
  6. 2020NeRF in the Wild: Neural Radiance Fields for Unconstrained Photo Collectionscited by 1,232
  7. 2021Volume Rendering of Neural Implicit Surfacescited by 996
  8. 2022Decomposing NeRF for Editing via Feature Field Distillationcited by 371
  9. 2020Neural Unsigned Distance Fields for Implicit Function Learningcited by 265
  10. 2022Geo-Neus: Geometry-Consistent Neural Implicit Surfaces Learning for Multi-view Reconstructioncited by 212
  11. 2022Zero NeRF: Registration with Zero Overlapcited by 7
  12. 2024Reg-NF: Efficient Registration of Implicit Surfaces within Neural Fieldscited by 4

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