where do you use the uncertainty for camera pose in volumetric nerf?

ToniRV / NeRF-SLAM

NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields. https://arxiv.org/abs/2210.13641 + Sigma-Fusion: Probabilistic Volumetric Fusion for Dense Monocular SLAM https://arxiv.org/abs/2210.01276

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where do you use the uncertainty for camera pose in volumetric nerf? #27

Closed dong-won-shin closed 1 year ago

dong-won-shin commented 1 year ago

In the paper, I couldn't find the usage of camera pose uncertainty. but I found the depth uncertainty in the loss function for depth loss.

Thanks for your great research!

ToniRV commented 1 year ago

Hi @dong-won-shin, I didn't have time to weigh the pose optimization by the pose uncertainty.