Instant Neural Radiance Fields

Abstract

We extend our instant NeRF implementation [Müller et al. 2022] to allow training from an incremental stream of images and camera poses, provided by a realtime Simultaneous Localization And Mapping (SLAM) system. Camera poses are refined end-to-end by back-propagating the gradients from NeRF training. Reconstruction quality is further improved by compensating for various camera properties, such as rolling shutter, non-linear lens distortion, and variable exposure typical of digital cameras.