# Blending Distributed NeRFs with Tri-stage Robust Pose Optimization

arXiv: https://arxiv.org/abs/2405.02880 · HTML: https://mlsanity.com/paper/2405.02880/

## Key facts

- Cited by 6 papers in the map (data through 14 Oct 2026).
- Builds on 21 of its 29 references that are in the map.
- First posted on arXiv 5 May 2024.

## Builds on (most cited first, 21 of 21)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Instant Neural Graphics Primitives with a Multiresolution Hash Encoding](https://mlsanity.com/paper/2201.05989/) (2022)
- [Billion-scale similarity search with GPUs](https://mlsanity.com/paper/1702.08734/) (2017)
- [Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fields](https://mlsanity.com/paper/2111.12077/) (2021)
- [ORB-SLAM3: An Accurate Open-Source Library for Visual, Visual-Inertial and Multi-Map SLAM](https://mlsanity.com/paper/2007.11898/) (2020)
- [Efficient and robust approximate nearest neighbor search using Hierarchical Navigable Small World graphs](https://mlsanity.com/paper/1603.09320/) (2016)
- [Block-NeRF: Scalable Large Scene Neural View Synthesis](https://mlsanity.com/paper/2202.05263/) (2022)
- [BARF: Bundle-Adjusting Neural Radiance Fields](https://mlsanity.com/paper/2104.06405/) (2021)
- [Nerfstudio: A Modular Framework for Neural Radiance Field Development](https://mlsanity.com/paper/2302.04264/) (2023)
- [NICE-SLAM: Neural Implicit Scalable Encoding for SLAM](https://mlsanity.com/paper/2112.12130/) (2021)
- [AirSim: High-Fidelity Visual and Physical Simulation for Autonomous Vehicles](https://mlsanity.com/paper/1705.05065/) (2017)
- [Mega-NeRF: Scalable Construction of Large-Scale NeRFs for Virtual Fly-Throughs](https://mlsanity.com/paper/2112.10703/) (2021)
- [BungeeNeRF: Progressive Neural Radiance Field for Extreme Multi-scale Scene Rendering](https://mlsanity.com/paper/2112.05504/) (2021)
- [Pixel-Perfect Structure-from-Motion with Featuremetric Refinement](https://mlsanity.com/paper/2108.08291/) (2021)
- [NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields](https://mlsanity.com/paper/2210.13641/) (2022)
- [Vision-Only Robot Navigation in a Neural Radiance World](https://mlsanity.com/paper/2110.00168/) (2021)
- [Vox-Fusion: Dense Tracking and Mapping with Voxel-based Neural Implicit Representation](https://mlsanity.com/paper/2210.15858/) (2022)
- [nerf2nerf: Pairwise Registration of Neural Radiance Fields](https://mlsanity.com/paper/2211.01600/) (2022)
- [Efficient Large-scale Scene Representation with a Hybrid of High-resolution Grid and Plane Features](https://mlsanity.com/paper/2303.03003/) (2023)
- [LATITUDE: Robotic Global Localization with Truncated Dynamic Low-pass Filter in City-scale NeRF](https://mlsanity.com/paper/2209.08498/) (2022)
- [BAA-NGP: Bundle-Adjusting Accelerated Neural Graphics Primitives](https://mlsanity.com/paper/2306.04166/) (2023)

## Built on by (most cited first, 6 of 6)

- [LONG3R: Long Sequence Streaming 3D Reconstruction](https://mlsanity.com/paper/2507.18255/) (2025)
- [Drone-assisted Road Gaussian Splatting with Cross-view Uncertainty](https://mlsanity.com/paper/2408.15242/) (2024)
- [CRUISE: Cooperative Reconstruction and Editing in V2X Scenarios using Gaussian Splatting](https://mlsanity.com/paper/2507.18473/) (2025)
- [GS-Occ3D: Scaling Vision-only Occupancy Reconstruction with Gaussian Splatting](https://mlsanity.com/paper/2507.19451/) (2025)
- [From Rays to Projections: Better Inputs for Feed-Forward View Synthesis](https://mlsanity.com/paper/2601.05116/) (2026)
- [TTT-Parkour: Rapid Test-Time Training for Perceptive Robot Parkour](https://mlsanity.com/paper/2602.02331/) (2026)

## Abstract (arXiv)

Due to the limited model capacity, leveraging distributed Neural Radiance Fields (NeRFs) for modeling extensive urban environments has become a necessity. However, current distributed NeRF registration approaches encounter aliasing artifacts, arising from discrepancies in rendering resolutions and suboptimal pose precision. These factors collectively deteriorate the fidelity of pose estimation within NeRF frameworks, resulting in occlusion artifacts during the NeRF blending stage. In this paper, we present a distributed NeRF system with tri-stage pose optimization. In the first stage, precise poses of images are achieved by bundle adjusting Mip-NeRF 360 with a coarse-to-fine strategy. In the second stage, we incorporate the inverting Mip-NeRF 360, coupled with the truncated dynamic low-pass filter, to enable the achievement of robust and precise poses, termed Frame2Model optimization. On top of this, we obtain a coarse transformation between NeRFs in different coordinate systems. In the third stage, we fine-tune the transformation between NeRFs by Model2Model pose optimization. After obtaining precise transformation parameters, we proceed to implement NeRF blending, showcasing superior performance metrics in both real-world and simulation scenarios. Codes and data will be publicly available at https://github.com/boilcy/Distributed-NeRF.