Loc-NeRF: Monte Carlo Localization using Neural Radiance Fields
Dominic Maggio,Marcus Abate,Jingnan Shi,Courtney Mario,Luca Carlone,Dominic Maggio,Marcus Abate,Jingnan Shi,Courtney Mario,Luca Carlone
We present Loc-NeRF, a real-time vision-based robot localization approach that combines Monte Carlo localization and Neural Radiance Fields (NeRF). Our system uses a pre-trained NeRF model as the map of an environment and can localize itself in real-time using an RGB camera as the only exteroceptive sensor onboard the robot. While neural radiance fields have seen significant applications for visua...
