Neural Radiance Field (NeRF) has recently emerged as a powerful
representation to synthesize photorealistic novel views. While showing
impressive performance, it relies on the availability of dense input views with
highly accurate camera poses, thus limiting its application in real-world
scenarios. In this work, we introduce Sparse Pose Adjusting Radiance Field
(SPARF), to address the challenge of novel-view synthesis given only few
wide-baseline input images (as low as 3) with noisy camera poses. Our approach
exploits multi-view geometry constraints in order to jointly learn the NeRF and
refine the camera poses. By relying on pixel matches extracted between the
input views, our multi-view correspondence objective enforces the optimized
scene and camera poses to converge to a global and geometrically accurate
solution. Our depth consistency loss further encourages the reconstructed scene
to be consistent from any viewpoint. Our approach sets a new state of the art
in the sparse-view regime on multiple challenging datasets.

这篇论文提出了一种基于多视角几何约束、利用稀疏输入视角和深度一致性损失函数的方法: Sparse Pose Adjusting Radiance Field (SPARF)，以在仅有少数宽基线输入图像的情况下 (尽低至 3 张)，实现新视角合成，同时在多个具有挑战性的数据集上取得了新的最先进结果。

SPARF: 稀疏且有噪声姿势的神经辐射场

SPARF: Neural Radiance Fields from Sparse and Noisy Poses

Localizing objects and estimating their extent in 3D is an important step
towards high-level 3D scene understanding, which has many applications in
Augmented Reality and Robotics. We present ODAM, a system for 3D Object
Detection, Association, and Mapping using posed RGB videos. The proposed system
relies on a deep learning front-end to detect 3D objects from a given RGB frame
and associate them to a global object-based map using a graph neural network
(GNN). Based on these frame-to-model associations, our back-end optimizes
object bounding volumes, represented as super-quadrics, under multi-view
geometry constraints and the object scale prior. We validate the proposed
system on ScanNet where we show a significant improvement over existing
RGB-only methods.

提出一种基于 RGB 视频和图神经网络的 ODAM 系统，用于检测、关联和建立 3D 对象的映射，通过超椭圆体表示物体包围体积，结合多视角几何约束和物体尺度先验，取得了相对于现有 RGB-only 方法的显著提升。