{"about":{"site":"https://codewithpapers.app","non_affiliation":"Code with Papers and Syntology are not affiliated with, endorsed by, or sponsored by Papers with Code, Meta, or the pwc-archive mirror.","licence":"CC BY-SA 4.0","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","attribution":"https://codewithpapers.app/attribution","modified":"archive material modified by Syntology; see the attribution page"},"url":"/paper/camera-relocalization-in-shadow-free-neural","title":"Camera Relocalization in Shadow-free Neural Radiance Fields","arxiv_id":"2405.14824","date":"2024-05-23","proceeding":null,"authors":["Shiyao Xu","Caiyun Liu","Yuantao Chen","Zhenxin Zhu","Zike Yan","Yongliang Shi","Hao Zhao","Guyue Zhou"],"abstract":"Camera relocalization is a crucial problem in computer vision and robotics. Recent advancements in neural radiance fields (NeRFs) have shown promise in synthesizing photo-realistic images. Several works have utilized NeRFs for refining camera poses, but they do not account for lighting changes that can affect scene appearance and shadow regions, causing a degraded pose optimization process. In this paper, we propose a two-staged pipeline that normalizes images with varying lighting and shadow conditions to improve camera relocalization. We implement our scene representation upon a hash-encoded NeRF which significantly boosts up the pose optimization process. To account for the noisy image gradient computing problem in grid-based NeRFs, we further propose a re-devised truncated dynamic low-pass filter (TDLF) and a numerical gradient averaging technique to smoothen the process. Experimental results on several datasets with varying lighting conditions demonstrate that our method achieves state-of-the-art results in camera relocalization under varying lighting conditions. Code and data will be made publicly available.","url_abs":"https://arxiv.org/abs/2405.14824v1","url_pdf":"https://arxiv.org/pdf/2405.14824v1.pdf","source":{"archive":"pwc-archive (Hugging Face), CC BY-SA 4.0","snapshot":"2025-07-28","licence_url":"https://creativecommons.org/licenses/by-sa/4.0/legalcode","row_kind":"abstracts"},"code_links":[{"paper_slug":"camera-relocalization-in-shadow-free-neural","repo_url":"https://github.com/hnrna/shadowfreenerf-camerareloc","is_official":1,"mentioned_in_paper":1,"mentioned_in_github":0,"framework":"none","reach":null}],"tasks":[{"task_slug":"camera-relocalization","task_name":"Camera Relocalization"},{"task_slug":"nerf","task_name":"NeRF"}],"methods":[],"datasets_introduced":[],"methods_introduced":[],"results":[],"syntology":{"atlas_url":null,"mcp":null,"developers":"https://syntology.ai/developers"},"arxiv_metadata":null,"syntology_extracted_results":null}