Skip to yearly menu bar Skip to main content


UP-NeRF: Unconstrained Pose Prior-Free Neural Radiance Field

Injae Kim · Minhyuk Choi · Hyunwoo Kim

Great Hall & Hall B1+B2 (level 1) #205
[ ] [ Project Page ]
[ Paper [ Poster [ OpenReview
Wed 13 Dec 3 p.m. PST — 5 p.m. PST


Neural Radiance Field (NeRF) has enabled novel view synthesis with high fidelity given images and camera poses. Subsequent works even succeeded in eliminating the necessity of pose priors by jointly optimizing NeRF and camera pose. However, these works are limited to relatively simple settings such as photometrically consistent and occluder-free image collections or a sequence of images from a video. So they have difficulty handling unconstrained images with varying illumination and transient occluders. In this paper, we propose UP-NeRF (Unconstrained Pose-prior-free Neural Radiance Fields) to optimize NeRF with unconstrained image collections without camera pose prior. We tackle these challenges with surrogate tasks that optimize color-insensitive feature fields and a separate module for transient occluders to block their influence on pose estimation. In addition, we introduce a candidate head to enable more robust pose estimation and transient-aware depth supervision to minimize the effect of incorrect prior. Our experiments verify the superior performance of our method compared to the baselines including BARF and its variants in a challenging internet photo collection, Phototourism dataset. The code of UP-NeRF is available at

Chat is not available.