Radiance Fields without Neural Networks

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We propose a watch-dependent sparse voxel model, Plenoxel (plenoptic quantity ingredient), that can optimize to the a similar fidelity as Neural Radiance Fields (NeRFs)
without any neural networks. Our frequent optimization time is 11 minutes on a single GPU, a speedup of two orders of magnitude when when compared with NeRF.

Pipeline (figure 2)

Given an area of calibrated photos of an object or scene, we reconstruct a (a) sparse voxel (“Plenoxel”) grid with density and spherical harmonic coefficients at every voxel. To render a ray, we (b) compute the color and opacity of each pattern level through trilinear interpolation of the neighboring voxel coefficients. We combine the color and opacity of those samples the utilization of (c) differentiable quantity rendering, following the latest success of NeRF. The voxel coefficients can then be (d) optimized the utilization of the frequent MSE reconstruction loss relative to the coaching photos, along with an total variation regularizer.


Cowl: joint first-authorship is now not genuinely supported in BibTex; it is probably going you’ll perhaps perhaps well likely also must modify the above if now not the utilization of CVPR’s structure.

Superfast Convergence

Our formulation converges impulsively. We attain similar metrics (PSNR) 100x faster than NeRF, and originate cheap outcomes inner a few seconds of optimization.

Outcomes on Ahead-facing Scenes

The utilization of NeRF’s NDC parameterization, we are able to roughly match NeRF’s outcomes on forward-facing scenes as properly.

Outcomes on 360° Scenes

We lengthen the formulation to 360° real scenes the utilization of a background model based totally mostly on multi-sphere photos (MSI), equivalent to the capability ragged in NeRF++.

Background / Foreground

The next is a clutch of a real Lego bulldozer. We contemporary the background and foreground objects one at a time.

Concurrent Works

Please also verify out DirectVoxGo, a identical work which currently looked on arXiv. They employ a neural salvage to suit the color, but salvage now not originate employ of TV regularization, SH, or sparse voxels. Furthermore, their implementation would now not require personalized CUDA kernels.


We model that Utkarsh Singhal and Sara Fridovich-Keil tried a linked thought with level clouds a while sooner than this mission. Furthermore, we would fancy to thank Ren Ng for necessary suggestions and Dangle Gao for reviewing a draft of the paper.

The mission is generously supported in phase by the CONIX Research Center,
one of six providers and products in JUMP, a Semiconductor Research Company (SRC) program backed by DARPA; a Google review award to Angjoo Kanazawa; Benjamin Recht’s ONR awards N00014-20-1-2497 and N00014-18-1-2833, NSF CPS award 1931853, and the DARPA Assured Autonomy program (FA8750-18-C-0101).
Sara Fridovich-Keil and Matthew Tancik are supported by the NSF GRFP.

This net location is in phase based totally mostly on a template of Michaël Gharbi, also ragged in PixelNeRF and PlenOctrees.



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