NeRF-Loc: Transformer-Based Object Localization Within Neural Radiance Fields. (arXiv:2209.12068v1 [cs.CV])

Neural Radiance Fields (NeRFs) have been successfully used for scene
representation. Recent works have also developed robotic navigation and
manipulation systems using NeRF-based environment representations. As object
localization is the foundation for many robotic applications, to further
unleash the potential of NeRFs in robotic systems, we study object localization
within a NeRF scene. We propose a transformer-based framework NeRF-Loc to
extract 3D bounding boxes of objects in NeRF scenes. NeRF-Loc takes a
pre-trained NeRF model and camera view as input, …

arxiv loc localization nerf neural radiance fields transformer