IFFNeRF: Initialisation Free and Fast 6DoF pose estimation from a single image and a NeRF model

Matteo Bortolon,Theodore Tsesmelis,Stuart James,Fabio Poiesi,Alessio Del Bue,Matteo Bortolon,Theodore Tsesmelis,Stuart James,Fabio Poiesi,Alessio Del Bue

We introduce IFFNeRF to estimate the six degrees-of-freedom (6DoF) camera pose of a given image, building on the Neural Radiance Fields (NeRF) formulation. IFFNeRF is specifically designed to operate in real-time and eliminates the need for an initial pose guess that is proximate to the sought solution. IFFNeRF utilizes the Metropolis-Hasting algorithm to sample surface points from within the NeRF...