Abstract: In one embodiment, a method includes determining a first camera pose and a second camera pose. The method includes accessing, for a first frame, a first feature map that includes a feature vector for each pixel in the first frame and determining, by a NeRF model and based on the first feature map and the first pose, a first color value for each first-frame pixel The method further includes accessing a second feature map for a second frame, determining (1) a feature-map difference between the first and second feature maps and (2) a pose difference between the first and second poses, and determining a second color value for each pixel in the second frame by modifying the first color value of a corresponding pixel in the first frame with an output of a trained residue neural network, the output based on (1) the feature-map difference and (2) the pose difference.