🔥 News

• [2024-10-29] 📢 Check out the first compreshensive survey paper in the Neural Fields in Robotics domain: Neural Fields in Robotics: A Survey
  • Some other concurrent and notable survey papers include NeRF in Robotics and 3D Gaussian Splatting in Robotics
• [2024-10-29] 📢 We launch a new website to learn about Neural Fields in Robotics including survey paper and workshops: Neural Fields in Robotics Website. Note that workshops are available under year name, for instance checkout the ICRA 2024 workshop at https://robonerf.github.io/2024
• [2024-05-17] 📢 First Workshop on Neural Fields in Robotics was held at ICRA'24 in Yokohama, Japan. Check out the workshop webpage for list of accepted papers and recordings of the full workshop sessions including speaker talks.
• [2022-06-09] Zubair Irshad curated this list and published the first version.

Overview

• Object Pose Estimation
• SLAM
• Manipulation/RL
• Object Reconstruction
• Physics
• Planning/Navigation
• Citation

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](https://yangxingrui.c