We compare our novel view synthesis results below (with circular pose perturbations around a centered training pose). We demonstrate how BARF can learn 3D scene representations from RGB video sequences from unknown camera poses. Naively applying positional encoding in NeRF is detrimental to the registration process, which can get stuck in suboptimal solutions easily.

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We can also visualize how positional encoding affects the basin of attraction, where we attempt to warp a center patch to a target patch cropped by a certain offset. In this paper, we propose Bundle-Adjusting Neural Radiance Fields (BARF) for training NeRF from imperfect (or even unknown) camera poses — the joint problem of learning neural 3D representations and registering camera frames.

Experiments on synthetic and real-world data show that BARF can effectively optimize the neural scene representations and resolve large camera pose misalignment at the same time. Finance is provided by PayPal Credit (a trading name of PayPal UK Ltd, Whittaker House, Whittaker Avenue, Richmond-Upon-Thames, Surrey, United Kingdom, TW9 1EH). These step bars exhibit incredible durability, so you can power through any off-road obstacle with complete confidence. HOWLS AS IT FLIES: It makes a howling sound when it flies through the air – you not only see how far it’s going, you also get the thrill of hearing it as it soars across the entire distance. Hooke Road Side Steps will give your 4-door Bronco an aggressive off-road appearance while providing a convenient step for easy entry into your lifted vehicle.