Abstract: Provided are systems and methods that invert a trained NeRF model, which stores the structure of a scene or object, to estimate the 6D pose from an image taken with a novel view. 6D pose estimation has a wide range of applications, including visual localization and object pose estimation for robot manipulation.

Abstract: Systems and methods for training a machine-learned model are disclosed herein. The method can include obtaining, by a processor, a plurality of images, each image having a set of parameter values comprising values for a plurality of camera parameters and determining a covariance matrix for the plurality of camera parameters with respect to a plurality of projected points generated via evaluation of a projection function. The method can also include performing a whitening algorithm to identify a preconditioning matrix that, when applied to the sets of parameter values, results in the covariance matrix being approximately equal to an identity matrix and performing an optimization algorithm on the plurality of sets of parameter values, Performing the optimization algorithm can include applying an inverse of the preconditioning matrix to the plurality of sets of parameters in a forward prediction pass and applying the preconditioning matrix in a backward gradient pass.

Abstract: Systems and methods for training a neural radiance field model for noisy scenes can leverage raw noisy images in linear high dynamic range color space to train a neural radiance field model to generate view synthesis of low light and/or high contrast scenes. The trained model can then be utilized to accurately complete view rendering tasks without the preprocessing used for generating low dynamic range images. In some implementations, training on unprocessed data of a low light scene can allow for training a neural radiance field model to generate high quality view renderings of a low light scene.

Abstract: Provided are systems and methods for synthesizing novel views of complex scenes (e.g., outdoor scenes). In some implementations, the systems and methods can include or use machine-learned models that are capable of learning from unstructured and/or unconstrained collections of imagery such as, for example, “in the wild” photographs. In particular, example implementations of the present disclosure can learn a volumetric scene density and radiance represented by a machine-learned model such as one or more multilayer perceptrons (MLPs).

Abstract: Systems and methods for view synthesis and three-dimensional reconstruction can learn an environment by utilizing a plurality of images of an environment and depth data. The use of depth data can be helpful when the quantity of images and different angles may be limited. For example, large outdoor environments can be difficult to learn due to the size, the varying image exposures, and the limited variance in view direction changes. The systems and methods can leverage a plurality of panoramic images and corresponding lidar data to accurately learn a large outdoor environment to then generate view synthesis outputs and three-dimensional reconstruction outputs. Training may include the use of an exposure correction network to address lighting exposure differences between training images.

Abstract: Systems and methods for view synthesis and three-dimensional reconstruction can learn an environment by utilizing a plurality of images of an environment and depth data. The use of depth data can be helpful when the quantity of images and different angles may be limited. For example, large outdoor environments can be difficult to learn due to the size, the varying image exposures, and the limited variance in view direction changes. The systems and methods can leverage a plurality of panoramic images and corresponding lidar data to accurately learn a large outdoor environment to then generate view synthesis outputs and three-dimensional reconstruction outputs. Training may include the use of an exposure correction network to address lighting exposure differences between training images.

Abstract: A fractional training process can be performed training images to an instance of a machine-learned generative image model to obtain a partially trained instance of the model. A fractional optimization process can be performed with the partially trained instance to an instance of a machine-learned three-dimensional (3D) implicit representation model obtain a partially optimized instance of the model. Based on the plurality of training images, pseudo multi-view subject images can be generated with the partially optimized instance of the 3D implicit representation model and a fully trained instance of the generative image model; The partially trained instance of the model can be trained with a set of training data. The partially optimized instance of the machine-learned 3D implicit representation model can be trained with the machine-learned multi-view image model.

Abstract: Provided are systems and methods for synthesizing novel views of complex scenes (e.g., outdoor scenes). In some implementations, the systems and methods can include or use machine-learned models that are capable of learning from unstructured and/or unconstrained collections of imagery such as, for example, “in the wild” photographs. In particular, example implementations of the present disclosure can learn a volumetric scene density and radiance represented by a machine-learned model such as one or more multilayer perceptrons (MLPs).

Abstract: Systems and methods for training a neural radiance field model can include the use of image patches for ground truth training. For example, the systems and methods can include generating patch renderings with a neural radiance field model, comparing the patch renderings to ground truth patches from ground truth images, and adjusting one or more parameters based on the comparison. Additionally and/or alternatively, the systems and methods can include the utilization of a flow model for mitigating and/or minimizing artifact generation.

Abstract: Techniques of image synthesis using a neural radiance field (NeRF) includes generating a deformation model of movement experienced by a subject in a non-rigidly deforming scene. For example, when an image synthesis system uses NeRFs, the system takes as input multiple poses of subjects for training data. In contrast to conventional NeRFs, the technical solution first expresses the positions of the subjects from various perspectives in an observation frame. The technical solution then involves deriving a deformation model, i.e., a mapping between the observation frame and a canonical frame in which the subject's movements are taken into account. This mapping is accomplished using latent deformation codes for each pose that are determined using a multilayer perceptron (MLP). A NeRF is then derived from positions and casted ray directions in the canonical frame using another MLP. New poses for the subject may then be derived using the NeRF.

Abstract: Apparatus and methods related to applying lighting models to images of objects are provided. An example method includes applying a geometry model to an input image to determine a surface orientation map indicative of a distribution of lighting on an object based on a surface geometry. The method further includes applying an environmental light estimation model to the input image to determine a direction of synthetic lighting to be applied to the input image. The method also includes applying, based on the surface orientation map and the direction of synthetic lighting, a light energy model to determine a quotient image indicative of an amount of light energy to be applied to each pixel of the input image. The method additionally includes enhancing, based on the quotient image, a portion of the input image. One or more neural networks can be trained to perform one or more of the aforementioned aspects.

Abstract: Provided are systems and methods for synthesizing novel views of complex scenes (e.g., outdoor scenes). In some implementations, the systems and methods can include or use machine-learned models that are capable of learning from unstructured and/or unconstrained collections of imagery such as, for example, “in the wild” photographs. In particular, example implementations of the present disclosure can learn a volumetric scene density and radiance represented by a machine-learned model such as one or more multilayer perceptrons (MLPs).

Abstract: Systems and methods for view synthesis and three-dimensional reconstruction can learn an environment by utilizing a plurality of images of an environment and depth data. The use of depth data can be helpful when the quantity of images and different angles may be limited. For example, large outdoor environments can be difficult to learn due to the size, the varying image exposures, and the limited variance in view direction changes. The systems and methods can leverage a plurality of panoramic images and corresponding lidar data to accurately learn a large outdoor environment to then generate view synthesis outputs and three-dimensional reconstruction outputs. Training may include the use of an exposure correction network to address lighting exposure differences between training images.

Abstract: Provided are systems and methods that invert a trained NeRF model, which stores the structure of a scene or object, to estimate the 6D pose from an image taken with a novel view. 6D pose estimation has a wide range of applications, including visual localization and object pose estimation for robot manipulation.

Abstract: Provided are systems and methods for synthesizing novel views of complex scenes (e.g., outdoor scenes). In some implementations, the systems and methods can include or use machine-learned models that are capable of learning from unstructured and/or unconstrained collections of imagery such as, for example, “in the wild” photographs. In particular, example implementations of the present disclosure can learn a volumetric scene density and radiance represented by a machine-learned model such as one or more multilayer perceptrons (MLPs).

Abstract: Methods, systems, and apparatus, including computer programs encoded on a computer storage medium, for rendering a new image that depicts a scene from a perspective of a camera at a new camera viewpoint.

Abstract: Provided are systems and methods for synthesizing novel views of complex scenes (e.g., outdoor scenes). In some implementations, the systems and methods can include or use machine-learned models that are capable of learning from unstructured and/or unconstrained collections of imagery such as, for example, “in the wild” photographs. In particular, example implementations of the present disclosure can learn a volumetric scene density and radiance represented by a machine-learned model such as one or more multilayer perceptrons (MLPs).

Abstract: Provided are systems and methods for synthesizing novel views of complex scenes (e.g., outdoor scenes). In some implementations, the systems and methods can include or use machine-learned models that are capable of learning from unstructured and/or unconstrained collections of imagery such as, for example, “in the wild” photographs. In particular, example implementations of the present disclosure can learn a volumetric scene density and radiance represented by a machine-learned model such as one or more multilayer perceptrons (MLPs).

Abstract: Provided are systems and methods for synthesizing novel views of complex scenes (e.g., outdoor scenes). In some implementations, the systems and methods can include or use machine-learned models that are capable of learning from unstructured and/or unconstrained collections of imagery such as, for example, “in the wild” photographs. In particular, example implementations of the present disclosure can learn a volumetric scene density and radiance represented by a machine-learned model such as one or more multilayer perceptrons (MLPs).

Abstract: The present disclosure relates to methods and systems that may improve and/or modify images captured using multiscopic image capture systems. In an example embodiment, burst image data is captured via a multiscopic image capture system. The burst image data may include at least one image pair. The at least one image pair is aligned based on at least one rectifying homography function. The at least one aligned image pair is warped based on a stereo disparity between the respective images of the image pair. The warped and aligned images are then stacked and a denoising algorithm is applied. Optionally, a high dynamic range algorithm may be applied to at least one output image of the aligned, warped, and denoised images.