ニューラル放射輝度場によるLiDARマッピングの確率論的定式化
A Probabilistic Formulation of LiDAR Mapping with Neural Radiance Fields
NeRFを用いたLiDARの新規視点生成において、損失を確率の積分として定式化することで、複数のリターン（first/nth/strongest）を単一チャネルからサンプリング可能にした研究。
著者: Matthew McDermott, Jason Rife
分類: cs.CV, cs.RO
原文アブストラクト
In this paper we reexamine the process through which a Neural Radiance Field (NeRF) can be trained to produce novel LiDAR views of a scene. Unlike image applications where camera pixels integrate light over time, LiDAR pulses arrive at specific times. As such, multiple LiDAR returns are possible for any given detector and the classification of these returns is inherently probabilistic. Applying a traditional NeRF training routine can result in the network learning phantom surfaces in free space between conflicting range measurements, similar to how floater aberrations may be produced by an image model. We show that by formulating loss as an integral of probability (rather than as an integral of optical density) the network can learn multiple peaks for a given ray, allowing the sampling of first, nth, or strongest returns from a single output channel. Code is available at https://github.com/mcdermatt/PLINK
