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Relightable Full-Body Gaussian Codec Avatars TL;DR: First drivable full-body avatar model that reconstructs perceptually realistic relightable appearance. Contributions: • We propose the first relightable full-body avatar model that jointly models the relightable appearance of the human body, face, and hands for high-fidelity relighting and animation. • To handle full-body... articulations with global light transport, we propose learnable zonal harmonics to represent local diffuse radiance transfer in the local coordinate frames of each Gaussian. This results in a reduced number of parameters and improved rendering quality compared to the commonly used spherical harmonics representation. • We reformulate the learnable radiance transfer to explicitly decompose non-local shadowing and propose a dedicated shadow network to predict shadows caused by the articulation of the body. Additionally, we propose a physically based irradiance normalization scheme to ensure that the shadow network can generalize to novel illumination conditions, such as unseen environment maps. • We show that deferred shading can be used for our learned specular radiance transfer function, achieving high-fidelity specular reflections for relightable human avatar modeling without excessively increasing the number of Gaussians.show more

MrNeRF

13,454 subscribers

10,966 Aufrufe • vor 1 Jahr •via X (Twitter)

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6 Kommentare

Profilbild von MrNeRF

MrNeRFvor 1 Jahr

Paper: Project:

Profilbild von GUNNAR Optiks

GUNNAR Optiksvor 1 Jahr

Cute but Deadly! 🎯 See clearly and stay focused with D Va Tokki Edition Glasses! 💖 🙌 @Darkladycosplay

Profilbild von Ben 🔧

Ben 🔧vor 1 Jahr

Would love to try this in the Vision Pro, get avatars talking, create a roundtable of some historical figures

Profilbild von ༄Brandon Rosado🕴

༄Brandon Rosado🕴vor 1 Jahr

Who has the capability to program with this? Or any codec/gaussian avatars? I want to integrate them to Unreal Engine and use it already and get them out of just tech demos/papers

Profilbild von Zhuang | AI Meeting Assistant 🤖📝

Zhuang | AI Meeting Assistant 🤖📝vor 1 Jahr

full-body avatars? finally, something to distract from my face!

Profilbild von Abhinav Girdhar

Abhinav Girdharvor 1 Jahr

Incredible work! The integration of learnable zonal harmonics and shadow prediction sounds like a game-changer for realism. Any plans for real-time applications?

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SpecNeRF: Gaussian Directional Encoding for Specular Reflections paper page: Neural radiance fields have achieved remarkable performance in modeling the appearance of 3D scenes. However, existing approaches still struggle with the view-dependent appearance of glossy surfaces, especially under complex lighting of indoor environments. Unlike existing methods, which typically assume distant lighting like an environment map, we propose a learnable Gaussian directional encoding to better model the view-dependent effects under near-field lighting conditions. Importantly, our new directional encoding captures the spatially-varying nature of near-field lighting and emulates the behavior of prefiltered environment maps. As a result, it enables the efficient evaluation of preconvolved specular color at any 3D location with varying roughness coefficients. We further introduce a data-driven geometry prior that helps alleviate the shape radiance ambiguity in reflection modeling. We show that our Gaussian directional encoding and geometry prior significantly improve the modeling of challenging specular reflections in neural radiance fields, which helps decompose appearance into more physically meaningful components.

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[SIGGRAPH '25] TeGA: Texture Space Gaussian Avatars for High-Resolution Dynamic Head Modeling Note: On the left that's a 3DGS rendering! Contributions: 1. We propose a simple approach for rigging 3D Gaussians within the continuous tangent space of 3DMM face models, allowing Gaussians to move freely across mesh triangles. 2. We propose a novel CNN-based deformation model that is agnostic to the number of 3D Gaussians, naturally enabling adaptively densification of the representation to improve detail where most needed, with expression-dependent shading. 3. We show significant improvements over baseline SOTA methods and demonstrate the ability to render even extreme close-up images at high quality.

MrNeRF

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EnvGS: Modeling View-Dependent Appearance with Environment Gaussian Contributions: • We propose a novel scene representation for accurately modeling complex near-field and high-frequency reflections in real-world environments. • We developed a real-time ray-tracing renderer for 2DGS, enabling joint optimization of our representation for accurate scene reconstruction while achieving real-time rendering speeds. • Extensive experiments show that EnvGS significantly outperforms previous methods. To the best of our knowledge, EnvGS is the first method to achieve real-time photorealistic specular reflections synthesis in real-world scenes.

EnvGS: Modeling View-Dependent Appearance with Environment Gaussian Contributions: • We propose a novel scene representation for accurately modeling complex near-field and high-frequency reflections in real-world environments. • We developed a real-time ray-tracing renderer for 2DGS, enabling joint optimization of our representation for accurate scene reconstruction while achieving real-time rendering speeds. • Extensive experiments show that EnvGS significantly outperforms previous methods. To the best of our knowledge, EnvGS is the first method to achieve real-time photorealistic specular reflections synthesis in real-world scenes.

MrNeRF

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[SIGGRAPH '25] EVA: Expressive Virtual Avatars from Multi-view Videos Contributions: 1. We introduce EVA, a novel method enabling full-body control with real-time, photo-realistic renderings, robustly handling loose clothing dynamics and various facial expressions. 2. We develop an expressive deformable template that generates a deformable human template mesh and employs a multi-stage tracking algorithm to faithfully capture facial expressions, body motions, and non-rigid deformations from multi-view videos. 3. We propose a disentangled 3D Gaussian appearance module that models the body and face independently, ensuring separated control and high-quality renderings.

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MrNeRF

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[SIGGRAPH Asia '24 (TOG)] Representing Long Volumetric Video with Temporal Gaussian Hierarchy Contributions: • We introduce a novel, efficient, and expressive Temporal Gaussian Hierarchy representation for long volumetric video. To our knowledge, our method is the first approach capable of handling minutes of volumetric video data. • We propose a Compact Appearance Model and a new rasterization implementation to facilitate real-time, high-quality dynamic view synthesis while maintaining a compact size. • We propose a system to efficiently model long volumetric videos for the first time and demonstrate state-of-the-art dynamic view synthesis quality on the Neural3DV [Li et al. 2022], ENeRF-Outdoor [Lin et al. 2022], and MobileStage [Xu et al. 2024b] datasets, while also achieving the best rendering speed with reduced training cost and memory usage.

[SIGGRAPH Asia '24 (TOG)] Representing Long Volumetric Video with Temporal Gaussian Hierarchy Contributions: • We introduce a novel, efficient, and expressive Temporal Gaussian Hierarchy representation for long volumetric video. To our knowledge, our method is the first approach capable of handling minutes of volumetric video data. • We propose a Compact Appearance Model and a new rasterization implementation to facilitate real-time, high-quality dynamic view synthesis while maintaining a compact size. • We propose a system to efficiently model long volumetric videos for the first time and demonstrate state-of-the-art dynamic view synthesis quality on the Neural3DV [Li et al. 2022], ENeRF-Outdoor [Lin et al. 2022], and MobileStage [Xu et al. 2024b] datasets, while also achieving the best rendering speed with reduced training cost and memory usage.

MrNeRF

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MrNeRF

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VideoRF: Rendering Dynamic Radiance Fields as 2D Feature Video Streams paper page: Neural Radiance Fields (NeRFs) excel in photorealistically rendering static scenes. However, rendering dynamic, long-duration radiance fields on ubiquitous devices remains challenging, due to data storage and computational constraints. In this paper, we introduce VideoRF, the first approach to enable real-time streaming and rendering of dynamic radiance fields on mobile platforms. At the core is a serialized 2D feature image stream representing the 4D radiance field all in one. We introduce a tailored training scheme directly applied to this 2D domain to impose the temporal and spatial redundancy of the feature image stream. By leveraging the redundancy, we show that the feature image stream can be efficiently compressed by 2D video codecs, which allows us to exploit video hardware accelerators to achieve real-time decoding. On the other hand, based on the feature image stream, we propose a novel rendering pipeline for VideoRF, which has specialized space mappings to query radiance properties efficiently. Paired with a deferred shading model, VideoRF has the capability of real-time rendering on mobile devices thanks to its efficiency. We have developed a real-time interactive player that enables online streaming and rendering of dynamic scenes, offering a seamless and immersive free-viewpoint experience across a range of devices, from desktops to mobile phones.

VideoRF: Rendering Dynamic Radiance Fields as 2D Feature Video Streams paper page: Neural Radiance Fields (NeRFs) excel in photorealistically rendering static scenes. However, rendering dynamic, long-duration radiance fields on ubiquitous devices remains challenging, due to data storage and computational constraints. In this paper, we introduce VideoRF, the first approach to enable real-time streaming and rendering of dynamic radiance fields on mobile platforms. At the core is a serialized 2D feature image stream representing the 4D radiance field all in one. We introduce a tailored training scheme directly applied to this 2D domain to impose the temporal and spatial redundancy of the feature image stream. By leveraging the redundancy, we show that the feature image stream can be efficiently compressed by 2D video codecs, which allows us to exploit video hardware accelerators to achieve real-time decoding. On the other hand, based on the feature image stream, we propose a novel rendering pipeline for VideoRF, which has specialized space mappings to query radiance properties efficiently. Paired with a deferred shading model, VideoRF has the capability of real-time rendering on mobile devices thanks to its efficiency. We have developed a real-time interactive player that enables online streaming and rendering of dynamic scenes, offering a seamless and immersive free-viewpoint experience across a range of devices, from desktops to mobile phones.

AK

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Drivable 3D Gaussian Avatars paper page: present Drivable 3D Gaussian Avatars (D3GA), the first 3D controllable model for human bodies rendered with Gaussian splats. Current photorealistic drivable avatars require either accurate 3D registrations during training, dense input images during testing, or both. The ones based on neural radiance fields also tend to be prohibitively slow for telepresence applications. This work uses the recently presented 3D Gaussian Splatting (3DGS) technique to render realistic humans at real-time framerates, using dense calibrated multi-view videos as input. To deform those primitives, we depart from the commonly used point deformation method of linear blend skinning (LBS) and use a classic volumetric deformation method: cage deformations. Given their smaller size, we drive these deformations with joint angles and keypoints, which are more suitable for communication applications. Our experiments on nine subjects with varied body shapes, clothes, and motions obtain higher-quality results than state-of-the-art methods when using the same training and test data.

Drivable 3D Gaussian Avatars paper page: present Drivable 3D Gaussian Avatars (D3GA), the first 3D controllable model for human bodies rendered with Gaussian splats. Current photorealistic drivable avatars require either accurate 3D registrations during training, dense input images during testing, or both. The ones based on neural radiance fields also tend to be prohibitively slow for telepresence applications. This work uses the recently presented 3D Gaussian Splatting (3DGS) technique to render realistic humans at real-time framerates, using dense calibrated multi-view videos as input. To deform those primitives, we depart from the commonly used point deformation method of linear blend skinning (LBS) and use a classic volumetric deformation method: cage deformations. Given their smaller size, we drive these deformations with joint angles and keypoints, which are more suitable for communication applications. Our experiments on nine subjects with varied body shapes, clothes, and motions obtain higher-quality results than state-of-the-art methods when using the same training and test data.

AK

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GS^3: Efficient Relighting with Triple Gaussian Splatting Abstract: We present a spatial and angular Gaussian based representation and a triple splatting process, for real-time, high-quality novel lighting-and-view synthesis from multi-view point-lit input images. To describe complex ap pearance, we employ a Lambertian plus a mixture of angular Gaussians as an effective reflectance function for each spatial Gaussian. To generate self-shadow, we splat all spatial Gaussians towards the light source to obtain shadow values, which are further refined by a small multi-layer perceptron. To compensate for other effects like global illumination, another network is trained to compute and add a per-spatial-Gaussian RGB tuple. The effectiveness of our representation is demonstrated on 30 samples with a wide variation in geometry (from solid to fluffy) and appearance (from translucent to anisotropic), as well as using different forms of input data, including rendered images of synthetic/reconstructed objects, photographs captured with a handheld camera and a flash, or from a professional lightstage. We achieve a training time of 40-70 minutes and a rendering speed of 90 fps on a single commodity GPU. Our results compare favorably with state-of-the-art techniques in terms of quality/performance.

GS^3: Efficient Relighting with Triple Gaussian Splatting Abstract: We present a spatial and angular Gaussian based representation and a triple splatting process, for real-time, high-quality novel lighting-and-view synthesis from multi-view point-lit input images. To describe complex ap pearance, we employ a Lambertian plus a mixture of angular Gaussians as an effective reflectance function for each spatial Gaussian. To generate self-shadow, we splat all spatial Gaussians towards the light source to obtain shadow values, which are further refined by a small multi-layer perceptron. To compensate for other effects like global illumination, another network is trained to compute and add a per-spatial-Gaussian RGB tuple. The effectiveness of our representation is demonstrated on 30 samples with a wide variation in geometry (from solid to fluffy) and appearance (from translucent to anisotropic), as well as using different forms of input data, including rendered images of synthetic/reconstructed objects, photographs captured with a handheld camera and a flash, or from a professional lightstage. We achieve a training time of 40-70 minutes and a rendering speed of 90 fps on a single commodity GPU. Our results compare favorably with state-of-the-art techniques in terms of quality/performance.

MrNeRF

17,786 Aufrufe • vor 1 Jahr

GPS-Gaussian+: Generalizable Pixel-wise 3D Gaussian Splatting for Real-Time Human-Scene Rendering from Sparse Views TL;DR: Are we witnessing the first steps towards 3DGS live streaming? Contributions: • We introduce a generalizable 3D Gaussian Splatting methodology that employs pixel-wise Gaussian parameter maps defined on 2D source image planes to formulate 3D Gaussians in a feed-forward manner. • We propose a fully differentiable framework composed of an iterative depth estimation module and a Gaussian parameter regression module. The intermediate depth prediction bridges the two components and allows them to benefit from joint training. • We introduce a regularization term and an epipolar attention mechanism to preserve geometry consistency between the two source views when using only rendering loss. Our method generalizes well to unseen characters even in complicated scenes. • We develop a real-time FVV system that achieves high-resolution rendering of characters in the scene without any geometry supervision.

GPS-Gaussian+: Generalizable Pixel-wise 3D Gaussian Splatting for Real-Time Human-Scene Rendering from Sparse Views TL;DR: Are we witnessing the first steps towards 3DGS live streaming? Contributions: • We introduce a generalizable 3D Gaussian Splatting methodology that employs pixel-wise Gaussian parameter maps defined on 2D source image planes to formulate 3D Gaussians in a feed-forward manner. • We propose a fully differentiable framework composed of an iterative depth estimation module and a Gaussian parameter regression module. The intermediate depth prediction bridges the two components and allows them to benefit from joint training. • We introduce a regularization term and an epipolar attention mechanism to preserve geometry consistency between the two source views when using only rendering loss. Our method generalizes well to unseen characters even in complicated scenes. • We develop a real-time FVV system that achieves high-resolution rendering of characters in the scene without any geometry supervision.

MrNeRF

25,862 Aufrufe • vor 1 Jahr

Fast View Synthesis of Casual Videos paper page: Novel view synthesis from an in-the-wild video is difficult due to challenges like scene dynamics and lack of parallax. While existing methods have shown promising results with implicit neural radiance fields, they are slow to train and render. This paper revisits explicit video representations to synthesize high-quality novel views from a monocular video efficiently. We treat static and dynamic video content separately. Specifically, we build a global static scene model using an extended plane-based scene representation to synthesize temporally coherent novel video. Our plane-based scene representation is augmented with spherical harmonics and displacement maps to capture view-dependent effects and model non-planar complex surface geometry. We opt to represent the dynamic content as per-frame point clouds for efficiency. While such representations are inconsistency-prone, minor temporal inconsistencies are perceptually masked due to motion. We develop a method to quickly estimate such a hybrid video representation and render novel views in real time. Our experiments show that our method can render high-quality novel views from an in-the-wild video with comparable quality to state-of-the-art methods while being 100x faster in training and enabling real-time rendering.

Fast View Synthesis of Casual Videos paper page: Novel view synthesis from an in-the-wild video is difficult due to challenges like scene dynamics and lack of parallax. While existing methods have shown promising results with implicit neural radiance fields, they are slow to train and render. This paper revisits explicit video representations to synthesize high-quality novel views from a monocular video efficiently. We treat static and dynamic video content separately. Specifically, we build a global static scene model using an extended plane-based scene representation to synthesize temporally coherent novel video. Our plane-based scene representation is augmented with spherical harmonics and displacement maps to capture view-dependent effects and model non-planar complex surface geometry. We opt to represent the dynamic content as per-frame point clouds for efficiency. While such representations are inconsistency-prone, minor temporal inconsistencies are perceptually masked due to motion. We develop a method to quickly estimate such a hybrid video representation and render novel views in real time. Our experiments show that our method can render high-quality novel views from an in-the-wild video with comparable quality to state-of-the-art methods while being 100x faster in training and enabling real-time rendering.

AK

20,668 Aufrufe • vor 2 Jahren

4D LangSplat: 4D Language Gaussian Splatting via Multimodal Large Language Models Contributions: • We introduce 4D LangSplat for open-vocabulary 4D spatial-temporal queries. To the best of our knowledge, we are the first to construct 4D language fields with object textual captions generated by MLLMs. • To model smooth transitions across states for objects in 4D scenes, we propose a status deformable network to capture continuous temporal changes. • Experiential results show that our method attains state-of-the-art performance for both time-agnostic and time-sensitive open-vocabulary queries.

4D LangSplat: 4D Language Gaussian Splatting via Multimodal Large Language Models Contributions: • We introduce 4D LangSplat for open-vocabulary 4D spatial-temporal queries. To the best of our knowledge, we are the first to construct 4D language fields with object textual captions generated by MLLMs. • To model smooth transitions across states for objects in 4D scenes, we propose a status deformable network to capture continuous temporal changes. • Experiential results show that our method attains state-of-the-art performance for both time-agnostic and time-sensitive open-vocabulary queries.

MrNeRF

10,961 Aufrufe • vor 1 Jahr

Apple Sr. Director Jeff Norris on how Vision Pro persona went from looking like cadavers to life-like avatars: "First thing I'd want to point out is that we changed the the whole rendering approach of Personas to a completely new technique that's based on Gaussian splats." The previous rendition of personas felt like a hybrid approach w/ neural textures that were very noticeable when you looked at your teeth and eyes. This also seems to be confirmed: "We also changed this rendering approach such that we unify the ways that we're rendering the body and the face. So it's a new neural network architecture that's emitting this Gaussian splat representation."

Apple Sr. Director Jeff Norris on how Vision Pro persona went from looking like cadavers to life-like avatars: "First thing I'd want to point out is that we changed the the whole rendering approach of Personas to a completely new technique that's based on Gaussian splats." The previous rendition of personas felt like a hybrid approach w/ neural textures that were very noticeable when you looked at your teeth and eyes. This also seems to be confirmed: "We also changed this rendering approach such that we unify the ways that we're rendering the body and the face. So it's a new neural network architecture that's emitting this Gaussian splat representation."

Bilawal Sidhu

275,232 Aufrufe • vor 9 Monaten

MagicAnimate: Temporally Consistent Human Image Animation using Diffusion Model with Gradio demo local demo: This paper studies the human image animation task, which aims to generate a video of a certain reference identity following a particular motion sequence. Existing animation works typically employ the frame-warping technique to animate the reference image towards the target motion. Despite achieving reasonable results, these approaches face challenges in maintaining temporal consistency throughout the animation due to the lack of temporal modeling and poor preservation of reference identity. In this work, we introduce MagicAnimate, a diffusion-based framework that aims at enhancing temporal consistency, preserving reference image faithfully, and improving animation fidelity. To achieve this, we first develop a video diffusion model to encode temporal information. Second, to maintain the appearance coherence across frames, we introduce a novel appearance encoder to retain the intricate details of the reference image. Leveraging these two innovations, we further employ a simple video fusion technique to encourage smooth transitions for long video animation. Empirical results demonstrate the superiority of our method over baseline approaches on two benchmarks. Notably, our approach outperforms the strongest baseline by over 38% in terms of video fidelity on the challenging TikTok dancing dataset. Code and model will be made available.

MagicAnimate: Temporally Consistent Human Image Animation using Diffusion Model with Gradio demo local demo: This paper studies the human image animation task, which aims to generate a video of a certain reference identity following a particular motion sequence. Existing animation works typically employ the frame-warping technique to animate the reference image towards the target motion. Despite achieving reasonable results, these approaches face challenges in maintaining temporal consistency throughout the animation due to the lack of temporal modeling and poor preservation of reference identity. In this work, we introduce MagicAnimate, a diffusion-based framework that aims at enhancing temporal consistency, preserving reference image faithfully, and improving animation fidelity. To achieve this, we first develop a video diffusion model to encode temporal information. Second, to maintain the appearance coherence across frames, we introduce a novel appearance encoder to retain the intricate details of the reference image. Leveraging these two innovations, we further employ a simple video fusion technique to encourage smooth transitions for long video animation. Empirical results demonstrate the superiority of our method over baseline approaches on two benchmarks. Notably, our approach outperforms the strongest baseline by over 38% in terms of video fidelity on the challenging TikTok dancing dataset. Code and model will be made available.

AK

810,578 Aufrufe • vor 2 Jahren

Happy 83rd birthday, David Cronenberg! David Cronenberg on why his movies are body centric: "I have this deep pool of imagery that I keep fishing in and it’s just there for whatever reason. My films are body centric. For me, the first fact of human existence is the body and the further we move away from the human body the less real things become and have to be invented by us. Maybe the body is the only fact of human existence that we can cling to. And yet it seems to be much ignored in movie making, although maybe not in art generally. One thinks of a lot of strange, interesting performance artists and painters like Francis Bacon. But in movie making there still seems to be this flight from the body in a weird way." (Cronenberg's interview with Richard Porton, Cineaste, 1999) Clip from: Videodrome (1983) Director: David Cronenberg

Happy 83rd birthday, David Cronenberg! David Cronenberg on why his movies are body centric: "I have this deep pool of imagery that I keep fishing in and it’s just there for whatever reason. My films are body centric. For me, the first fact of human existence is the body and the further we move away from the human body the less real things become and have to be invented by us. Maybe the body is the only fact of human existence that we can cling to. And yet it seems to be much ignored in movie making, although maybe not in art generally. One thinks of a lot of strange, interesting performance artists and painters like Francis Bacon. But in movie making there still seems to be this flight from the body in a weird way." (Cronenberg's interview with Richard Porton, Cineaste, 1999) Clip from: Videodrome (1983) Director: David Cronenberg

DepressedBergman

123,420 Aufrufe • vor 4 Monaten

Here’s our application video to Y Combinator s26: agentic body count detector We built a 4 agent committee to analyze how many body count people think you have based on your appearance We are pushing the frontier of AI for Biology with the aim to increase birth rate, which is a serious problem human race is facing right now It comes with a full analysis of your body count as well as ways to increase it and therefore make sure we can have more babies in our society Try now link in comment

Here’s our application video to Y Combinator s26: agentic body count detector We built a 4 agent committee to analyze how many body count people think you have based on your appearance We are pushing the frontier of AI for Biology with the aim to increase birth rate, which is a serious problem human race is facing right now It comes with a full analysis of your body count as well as ways to increase it and therefore make sure we can have more babies in our society Try now link in comment

Allen Wang

100,588 Aufrufe • vor 2 Monaten

Progressively Optimized Local Radiance Fields for Robust View Synthesis paper page: present an algorithm for reconstructing the radiance field of a large-scale scene from a single casually captured video. The task poses two core challenges. First, most existing radiance field reconstruction approaches rely on accurate pre-estimated camera poses from Structure-from-Motion algorithms, which frequently fail on in-the-wild videos. Second, using a single, global radiance field with finite representational capacity does not scale to longer trajectories in an unbounded scene. For handling unknown poses, we jointly estimate the camera poses with radiance field in a progressive manner. We show that progressive optimization significantly improves the robustness of the reconstruction. For handling large unbounded scenes, we dynamically allocate new local radiance fields trained with frames within a temporal window. This further improves robustness (e.g., performs well even under moderate pose drifts) and allows us to scale to large scenes. Our extensive evaluation on the Tanks and Temples dataset and our collected outdoor dataset, Static Hikes, show that our approach compares favorably with the state-of-the-art.

Progressively Optimized Local Radiance Fields for Robust View Synthesis paper page: present an algorithm for reconstructing the radiance field of a large-scale scene from a single casually captured video. The task poses two core challenges. First, most existing radiance field reconstruction approaches rely on accurate pre-estimated camera poses from Structure-from-Motion algorithms, which frequently fail on in-the-wild videos. Second, using a single, global radiance field with finite representational capacity does not scale to longer trajectories in an unbounded scene. For handling unknown poses, we jointly estimate the camera poses with radiance field in a progressive manner. We show that progressive optimization significantly improves the robustness of the reconstruction. For handling large unbounded scenes, we dynamically allocate new local radiance fields trained with frames within a temporal window. This further improves robustness (e.g., performs well even under moderate pose drifts) and allows us to scale to large scenes. Our extensive evaluation on the Tanks and Temples dataset and our collected outdoor dataset, Static Hikes, show that our approach compares favorably with the state-of-the-art.

AK

140,624 Aufrufe • vor 3 Jahren