NaCR Boosts Camera Ray Regression Visual Localization via NeRF's Differentiable Rendering
zhenjun_zhao · x · 2026-09-23
A new arXiv paper (2609.25907) proposes NaCR (NeRF-aided Camera Ray Regression), improving the emerging visual localization paradigm CRR that maps 2D image patches to 3D camera rays.
The authors note a duality: NeRF renders patches from rays via differentiable ray marching while CRR predicts rays from patches. NaCR unifies them: three enhancements to the CRR baseline; training-data augmentation by synthesizing novel views tailored for patch-level consumption from a pre-trained NeRF; and closed-loop supervision back-propagating photometric rendering errors to optimize predicted rays, with a two-stage curriculum for stable convergence. Experiments across indoor/outdoor benchmarks show competitive accuracy, with ablations validating each component.
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