Neural Radiance Fields (NeRFs) have become a rapidly growing research field with the potential to revolutionize typical photogrammetric workflows, such as those used for 3D scene reconstruction. As input, NeRFs require multi-view images with corresponding camera poses as well as the interior orientation. In the typical NeRF workflow, the camera poses and the interior orientation are estimated in advance with Structure from Motion (SfM). But the quality of the resulting novel views, which depends on different parameters such as the number and distribution of available images, as well as the accuracy of the related camera poses and interior orientation, is difficult to predict. In addition, SfM is a time-consuming pre-processing step, and its quality strongly depends on the image content. Furthermore, the undefined scaling factor of SfM hinders subsequent steps in which metric information is required. In this paper, we evaluate the potential of NeRFs for industrial robot applications. We propose an alternative to SfM pre-processing: we capture the input images with a calibrated camera that is attached to the end effector of an industrial robot and determine accurate camera poses with metric scale based on the robot kinematics. We then investigate the quality of the novel views by comparing them to ground truth, and by computing an internal quality measure based on ensemble methods. For evaluation purposes, we acquire multiple datasets that pose challenges for reconstruction typical of industrial applications, like reflective objects, poor texture, and fine structures. We show that the robot-based pose determination reaches similar accuracy as SfM in non-demanding cases, while having clear advantages in more challenging scenarios. Finally, we present first results of applying the ensemble method to estimate the quality of the synthetic novel view in the absence of a ground truth.

本研究评估了Neural Radiance Fields在工业机器人应用中的潜力，并提出了一种替代Structure from Motion预处理的方法，通过基于机器人运动学的度量尺度确定了精确的相机姿态，表明在具有挑战性的场景中具有明显优势，并展示了在缺乏真实数据的情况下，应用集成方法估计合成新视图的质量的初步结果。

基于神经辐射场的工业机器人应用中的新视角合成