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| Main Authors: | , , , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2406.06948 |
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| _version_ | 1866910488640618496 |
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| author | Xue, Shangjie Dill, Jesse Mathur, Pranay Dellaert, Frank Tsiotras, Panagiotis Xu, Danfei |
| author_facet | Xue, Shangjie Dill, Jesse Mathur, Pranay Dellaert, Frank Tsiotras, Panagiotis Xu, Danfei |
| contents | This paper presents Neural Visibility Field (NVF), a novel uncertainty quantification method for Neural Radiance Fields (NeRF) applied to active mapping. Our key insight is that regions not visible in the training views lead to inherently unreliable color predictions by NeRF at this region, resulting in increased uncertainty in the synthesized views. To address this, we propose to use Bayesian Networks to composite position-based field uncertainty into ray-based uncertainty in camera observations. Consequently, NVF naturally assigns higher uncertainty to unobserved regions, aiding robots to select the most informative next viewpoints. Extensive evaluations show that NVF excels not only in uncertainty quantification but also in scene reconstruction for active mapping, outperforming existing methods. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2406_06948 |
| institution | arXiv |
| publishDate | 2024 |
| record_format | arxiv |
| spellingShingle | Neural Visibility Field for Uncertainty-Driven Active Mapping Xue, Shangjie Dill, Jesse Mathur, Pranay Dellaert, Frank Tsiotras, Panagiotis Xu, Danfei Computer Vision and Pattern Recognition Robotics This paper presents Neural Visibility Field (NVF), a novel uncertainty quantification method for Neural Radiance Fields (NeRF) applied to active mapping. Our key insight is that regions not visible in the training views lead to inherently unreliable color predictions by NeRF at this region, resulting in increased uncertainty in the synthesized views. To address this, we propose to use Bayesian Networks to composite position-based field uncertainty into ray-based uncertainty in camera observations. Consequently, NVF naturally assigns higher uncertainty to unobserved regions, aiding robots to select the most informative next viewpoints. Extensive evaluations show that NVF excels not only in uncertainty quantification but also in scene reconstruction for active mapping, outperforming existing methods. |
| title | Neural Visibility Field for Uncertainty-Driven Active Mapping |
| topic | Computer Vision and Pattern Recognition Robotics |
| url | https://arxiv.org/abs/2406.06948 |