Vision-Only Robot Navigation in a Neural Radiance World

• Published in: IEEE robotics and automation letters Vol. 7; no. 2; pp. 4606 - 4613
• Main Authors: Adamkiewicz, Michal, Chen, Timothy, Caccavale, Adam, Gardner, Rachel, Culbertson, Preston, Bohg, Jeannette, Schwager, Mac
• Format: Journal Article
• Language: English
• Published: Piscataway IEEE 01.04.2022; The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
• Subjects: Algorithms; Cameras; Collision avoidance; Density; localization; motion and path planning; Navigation; Neural networks; neural radiance fields; Pipelines; Planning; Radiance; Ray tracing; Robot vision systems; Robots; Trajectory optimization; Vision; vision-based navigation

Neural Radiance Fields (NeRFs) have recently emerged as a powerful paradigm for the representation of natural, complex 3D scenes. Neural Radiance Fields (NeRFs) represent continuous volumetric density and RGB values in a neural network, and generate photo-realistic images from unseen camera viewpoin...