Awesome-Implicit-NeRF-Robotics

This repo contains a curative list of Implicit Representations and NeRF papers relating to Robotics/RL domain, inspired by awesome-computer-vision

Please feel free to send me pull requests or email to add papers!

If you find this repository useful, please consider citing and STARing this list. Feel free to share this list with others!

For an overview of NeRFs, checkout the Survey (Neural Volume Rendering: NeRF And Beyond), Blog post (NeRF Explosion 2020) and Collection (awesome-NeRF)

Object Pose Estimation

BundleSDF: "Neural 6-DoF Tracking and 3D Reconstruction of Unknown Objects", CVPR, 2023. [Paper] [Webpage]
ShAPO: "Implicit Representations for Multi Object Shape Appearance and Pose Optimization", ECCV, 2022. [Paper] [Pytorch Code] [Webpage] [Video]
NCF: "Neural Correspondence Field for Object Pose Estimation", ECCV, 2022. [Paper] [Pytorch Code] [Webpage]
Neural-Sim: "Learning to Generate Training Data with NeRF", ECCV 2022. [Paper] [Pytorch Code] [Webpage]
DISP6D: "Disentangled Implicit Shape and Pose Learning for Scalable 6D Pose Estimation", ECCV 2022. [Paper] [Pytorch Code] [Webpage] [Video]
SNAKE: "SNAKE: Shape-aware Neural 3D Keypoint Field", NeurIPS, 2022. [Paper] [Pytorch Code]
NeRF-RPN: "A general framework for object detection in NeRFs", CVPR 2023. [Paper] [Video]
NeRF-MAE: "Masked AutoEncoders for Self-Supervised 3D Representation Learning for Neural Radiance Fields", ECCV 2024. [Paper] [Webpage] [Pytorch Code]
nerf2nerf: "Pairwise Registration of Neural Radiance Fields", arXiv. [Paper] [Pytorch Code] [Webpage] [Dataset]
iNeRF: "Inverting Neural Radiance Fields for Pose Estimation", IROS, 2021. [Paper] [Pytorch Code] [Website] [Dataset]
NeRF-Pose: "A First-Reconstruct-Then-Regress Approach for Weakly-supervised 6D Object Pose Estimation", arXiv. [Paper]
PixTrack: "Precise 6DoF Object Pose Tracking using NeRF Templates and Feature-metric Alignment", arXiv. [Paper] [Pytorch Code]
"Parallel Inversion of Neural Radiance Fields for Robust Pose Estimation", arXiv. [Paper] [Website]
NARF22: "Neural Articulated Radiance Fields for Configuration-Aware Rendering", IROS, 2022. [Paper] [Website]
FroDO: "From Detections to 3D Objects", CVPR, 2020. [Paper]
SDFEst: "Categorical Pose and Shape Estimation of Objects From RGB-D Using Signed Distance Fields", RA-L, 2022. [Paper] [Pytorch Code]
SSC-6D: "Self-Supervised Category-Level 6D Object Pose Estimation with Deep Implicit Shape Representation", AAAI, 2022. [Paper] [Pytorch Code]
Style2NeRF: "An Unsupervised One-Shot NeRF for Semantic 3D Reconstruction", BMVC, 2022. [Paper]
"Shape, Pose, and Appearance from a Single Image via Bootstrapped Radiance Field Inversion", CVPR, 2023. [Paper] [Code]
TexPose: "Neural Texture Learning for Self-Supervised 6D Object Pose Estimation", CVPR 2023. [Paper][Code]
Canonical Fields: "Self-Supervised Learning of Pose-Canonicalized Neural Fields", arXiv. [Paper]
NeRF-Det: "Learning Geometry-Aware Volumetric Representation for Multi-View 3D Object Detection", arXiv. [Paper] [[Page] https://chenfengxu714.github.io/nerfdet/] [[Code] https://github.com/facebookresearch/NeRF-Det]
One-step NeRF: "Marrying NeRF with Feature Matching for One-step Pose Estimation", ICRA, 2024. [Paper] [Short Video] [[Website&Code] Coming]

SLAM

iSDF: "Real-Time Neural Signed Distance Fields for Robot Perception", RSS, 2022. [Paper] [Pytorch Code] [Website]
LENS: "LENS: Localization enhanced by NeRF synthesis", CORL, 2021. [Paper]
NICE-SLAM: "Neural Implicit Scalable Encoding for SLAM", CVPR, 2021. [Paper] Pytorch Code] [Website]
iMAP: "Implicit Mapping and Positioning in Real-Time", ICCV, 2021. [Paper] [Website]
BNV-Fusion: "BNV-Fusion: Dense 3D Reconstruction using Bi-level Neural Volume Fusion", CVPR, 2022. [Paper] Pytorch Code]
NeRF-SLAM: "Real-Time Dense Monocular SLAM with Neural Radiance Fields", arXiv. [Paper]
NICER-SLAM: "Neural Implicit Scene Encoding for RGB SLAM", arXiv. [Paper] [Video]
Nerfels: "Renderable Neural Codes for Improved Camera Pose Estimation", CVPR 2022 Workshop. [Paper]
GO-Surf: "A Real-time Monocular Visual SLAM with ORB Features and NeRF-realized Mapping", 3DV, 2022. [Paper] [[Website(https://jingwenwang95.github.io/go_surf/)] [Pytorch Code]
Orbeez-SLAM: "Neural Feature Grid Optimization for Fast, High-Fidelity RGB-D Surface Reconstruction", arXiv, 2022. [Paper]
ESLAM: "Efficient Dense SLAM System Based on Hybrid Representation of Signed Distance Fields", arXiv, 2022. [Paper]
Panoptic Multi-TSDFs: "a Flexible Representation for Online Multi-resolution Volumetric Mapping and Long-term Dynamic Scene Consistency", ICRA, 2022. [Paper] [Pytorch Code]
SHINE-Mapping: "Large-Scale 3D Mapping Using Sparse Hierarchical Implicit Neural Representations", ICRA, 2023. [Paper] [Code]
"SDF-based RGB-D Camera Tracking in Neural Scene Representations", ICRA Workshop, 2022. [Paper]
Loc-NeRF: "Monte Carlo Localization using Neural Radiance Fields", ICRA, 2023. [Paper] [Code] [Video]
Vox-Fusion: "Dense Tracking and Mapping with Voxel-based Neural Implicit Representation", ISMAR, 2022. [Paper] [Website] [Pytorch Code] [Video]
NodeSLAM: "Dense Tracking and Mapping with Voxel-based Neural Implicit Representation", 3DV, 2020. [Paper]
iLabel: "Revealing Objects in Neural Fields", RA-L, 2023. [Paper]
Nerf–: "Neural radiance fields without known camera parameters", arXiv. [Paper]
L2G-NeRF: "Local-to-Global Registration for Bundle-Adjusting Neural Radiance Fields", CVPR, 2023. [Paper] [Website] [code]
H2-Mapping: "Real-time Dense Mapping Using Hierarchical Hybrid Representation", RA-L, 2023. [Paper] [code]
Continual Neural Mapping: "Learning An Implicit Scene Representation from Sequential Observations", ICCV, 2021. [Paper]
LATITUDE: Robotic Global Localization with Truncated Dynamic Low-pass Filter in City-scale NeRF, ICRA, 2023. [Paper] [Pytorch Code]
"Dense RGB SLAM with neural implicit maps", ICLR, 2023. [Paper]
NOCaL: Calibration-free semi-supervised learning of odometry and camera intrinsics, ICRA, 2023. [Paper] [Website]

IRMCL: Implicit Representation-based Online Global Localization, arXiv. [Paper] [Code]
Efficient Implicit Neural Reconstruction Using LiDAR, ICRA, 2023. [Paper] [Website] [Pytorch Code] [Video]

vMAP: "Vectorised Object Mapping for Neural Field SLAM", CVPR, 2023. [Paper] [Website]
"An Algorithm for the SE(3)-Transformation on Neural Implicit Maps for Remapping Functions", RA-L, 2022. [Paper]
"Implicit Object Reconstruction With Noisy Data", RSS Workshop, 2021. [Paper]
NeuSE: "Neural SE(3)-Equivariant Embedding for Consistent Spatial Understanding with Objects", arXiv. [Paper] [Website]
ObjectFusion: "Accurate object-level SLAM with neural object priors", Graphical Models, 2022. [Paper]