{"id":"https://openalex.org/W4405786723","doi":"https://doi.org/10.1109/iros58592.2024.10802852","title":"VIRUS-NeRF - Vision, InfraRed and UltraSonic based Neural Radiance Fields","display_name":"VIRUS-NeRF - Vision, InfraRed and UltraSonic based Neural Radiance Fields","publication_year":2024,"publication_date":"2024-10-14","ids":{"openalex":"https://openalex.org/W4405786723","doi":"https://doi.org/10.1109/iros58592.2024.10802852"},"language":"en","primary_location":{"id":"doi:10.1109/iros58592.2024.10802852","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802852","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5113144720","display_name":"Nicolaj Schmid","orcid":null},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Nicolaj Schmid","raw_affiliation_strings":["ETH Zurich,Autonomous Systems Lab,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Autonomous Systems Lab,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5054282770","display_name":"Cornelius von Einem","orcid":"https://orcid.org/0000-0003-4378-1516"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Cornelius Von Einem","raw_affiliation_strings":["ETH Zurich,Autonomous Systems Lab,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Autonomous Systems Lab,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5063529163","display_name":"C\u00e9sar Cadena","orcid":"https://orcid.org/0000-0002-2972-6011"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Cesar Cadena","raw_affiliation_strings":["ETH Zurich,Autonomous Systems Lab,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Autonomous Systems Lab,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5083003222","display_name":"Roland Siegwart","orcid":"https://orcid.org/0000-0002-2760-7983"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Roland Siegwart","raw_affiliation_strings":["ETH Zurich,Autonomous Systems Lab,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Autonomous Systems Lab,Switzerland","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5062400084","display_name":"Lorenz Hruby","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lorenz Hruby","raw_affiliation_strings":["Filics GmbH,Munich,Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Filics GmbH,Munich,Germany","institution_ids":[]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5042419873","display_name":"Florian Tschopp","orcid":"https://orcid.org/0000-0001-7346-2941"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Florian Tschopp","raw_affiliation_strings":["Voliro AG,Zurich,Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Voliro AG,Zurich,Switzerland","institution_ids":[]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":2,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"12536","last_page":"12543"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T13114","display_name":"Image Processing Techniques and Applications","score":0.9128999710083008,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T13114","display_name":"Image Processing Techniques and Applications","score":0.9128999710083008,"subfield":{"id":"https://openalex.org/subfields/2214","display_name":"Media Technology"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/radiance","display_name":"Radiance","score":0.8459624648094177},{"id":"https://openalex.org/keywords/ultrasonic-sensor","display_name":"Ultrasonic sensor","score":0.5876232981681824},{"id":"https://openalex.org/keywords/computer-vision","display_name":"Computer vision","score":0.5247619152069092},{"id":"https://openalex.org/keywords/infrared","display_name":"Infrared","score":0.4590325653553009},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.45509856939315796},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.40973803400993347},{"id":"https://openalex.org/keywords/materials-science","display_name":"Materials science","score":0.35976076126098633},{"id":"https://openalex.org/keywords/acoustics","display_name":"Acoustics","score":0.33645346760749817},{"id":"https://openalex.org/keywords/optics","display_name":"Optics","score":0.2623063623905182},{"id":"https://openalex.org/keywords/physics","display_name":"Physics","score":0.24655157327651978}],"concepts":[{"id":"https://openalex.org/C23690007","wikidata":"https://www.wikidata.org/wiki/Q1411145","display_name":"Radiance","level":2,"score":0.8459624648094177},{"id":"https://openalex.org/C81288441","wikidata":"https://www.wikidata.org/wiki/Q20736125","display_name":"Ultrasonic sensor","level":2,"score":0.5876232981681824},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.5247619152069092},{"id":"https://openalex.org/C158355884","wikidata":"https://www.wikidata.org/wiki/Q11388","display_name":"Infrared","level":2,"score":0.4590325653553009},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.45509856939315796},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.40973803400993347},{"id":"https://openalex.org/C192562407","wikidata":"https://www.wikidata.org/wiki/Q228736","display_name":"Materials science","level":0,"score":0.35976076126098633},{"id":"https://openalex.org/C24890656","wikidata":"https://www.wikidata.org/wiki/Q82811","display_name":"Acoustics","level":1,"score":0.33645346760749817},{"id":"https://openalex.org/C120665830","wikidata":"https://www.wikidata.org/wiki/Q14620","display_name":"Optics","level":1,"score":0.2623063623905182},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.24655157327651978}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/iros58592.2024.10802852","is_oa":false,"landing_page_url":"https://doi.org/10.1109/iros58592.2024.10802852","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":43,"referenced_works":["https://openalex.org/W1528979467","https://openalex.org/W1963849668","https://openalex.org/W1976511700","https://openalex.org/W1991752086","https://openalex.org/W1998058414","https://openalex.org/W1999050017","https://openalex.org/W2103140674","https://openalex.org/W2144522070","https://openalex.org/W2145951052","https://openalex.org/W2154418813","https://openalex.org/W2169680472","https://openalex.org/W2196524641","https://openalex.org/W2339009533","https://openalex.org/W2582119245","https://openalex.org/W3034475171","https://openalex.org/W3035574168","https://openalex.org/W3129529899","https://openalex.org/W3168472259","https://openalex.org/W3209216267","https://openalex.org/W4200150166","https://openalex.org/W4214768561","https://openalex.org/W4221151978","https://openalex.org/W4225692545","https://openalex.org/W4285803579","https://openalex.org/W4294311139","https://openalex.org/W4296097351","https://openalex.org/W4312269470","https://openalex.org/W4312878643","https://openalex.org/W4313017495","https://openalex.org/W4313417995","https://openalex.org/W4315778466","https://openalex.org/W4318159482","https://openalex.org/W4360995366","https://openalex.org/W4383109324","https://openalex.org/W4386066812","https://openalex.org/W4387042048","https://openalex.org/W4389665446","https://openalex.org/W6623701065","https://openalex.org/W6764040762","https://openalex.org/W6797770180","https://openalex.org/W6800540912","https://openalex.org/W6845830698","https://openalex.org/W6852328928"],"related_works":["https://openalex.org/W2896728493","https://openalex.org/W2392142157","https://openalex.org/W2043512367","https://openalex.org/W4321518006","https://openalex.org/W2331836163","https://openalex.org/W2380594826","https://openalex.org/W2031629218","https://openalex.org/W4238525810","https://openalex.org/W4247875078","https://openalex.org/W4238161731"],"abstract_inverted_index":{"Autonomous":[0],"mobile":[1,190],"robots":[2],"are":[3,20,25],"an":[4],"increasingly":[5],"integral":[6],"part":[7],"of":[8,120,163],"modern":[9],"factory":[10],"and":[11,17,32,46,56,79,82,143,154,169,197],"warehouse":[12],"operations.":[13],"Obstacle":[14],"detection,":[15],"avoidance":[16],"path":[18],"planning":[19],"critical":[21],"safety-relevant":[22],"tasks,":[23],"which":[24],"often":[26],"solved":[27],"using":[28],"expensive":[29],"LiDAR":[30,106,121],"sensors":[31,49,81,145],"depth":[33,75],"cameras.":[34],"We":[35],"propose":[36],"to":[37,85,105,177],"use":[38],"cost-effective":[39,186],"low-resolution":[40],"ranging":[41],"sensors,":[42],"such":[43],"as":[44],"ultrasonic":[45,78,133,142],"infrared":[47,80,144],"time-of-flight":[48],"by":[50,130,174],"developing":[51],"VIRUS-NeRF":[52,73,100,164,180],"-":[53],"Vision,":[54],"InfraRed,":[55],"UltraSonic":[57],"based":[58],"Neural":[59,64],"Radiance":[60],"Fields.Building":[61],"upon":[62],"Instant":[63],"Graphics":[65],"Primitives":[66],"with":[67,118,151,192],"a":[68,182],"Multiresolution":[69],"Hash":[70],"Encoding":[71],"(Instant-NGP),":[72],"incorporates":[74],"measurements":[76],"from":[77],"utilizes":[83],"them":[84],"update":[86],"the":[87,131,159,166,171],"occupancy":[88,161],"grid":[89,162],"used":[90],"for":[91,185],"ray":[92],"marching.":[93],"Experimental":[94],"evaluation":[95],"in":[96,112,124,189,195],"2D":[97],"demonstrates":[98],"that":[99,119,140],"achieves":[101],"comparable":[102],"mapping":[103,167,188],"performance":[104],"point":[107],"clouds":[108],"regarding":[109],"coverage.":[110],"Notably,":[111],"small":[113],"environments,":[114],"its":[115],"accuracy":[116],"aligns":[117],"measurements,":[122],"while":[123],"larger":[125],"ones,":[126],"it":[127],"is":[128,146],"bounded":[129],"utilized":[132],"sensors.":[134],"An":[135],"in-depth":[136],"ablation":[137],"study":[138],"reveals":[139],"adding":[141],"highly":[147],"effective":[148],"when":[149],"dealing":[150],"sparse":[152],"data":[153],"low":[155],"view":[156],"variation.":[157],"Further,":[158],"proposed":[160],"improves":[165],"capabilities":[168],"increases":[170],"training":[172],"speed":[173],"46%":[175],"compared":[176],"Instant-NGP.":[178],"Overall,":[179],"presents":[181],"promising":[183],"approach":[184],"local":[187],"robotics,":[191],"potential":[193],"applications":[194],"safety":[196],"navigation":[198],"tasks.":[199],"The":[200],"code":[201],"can":[202],"be":[203],"found":[204],"at":[205],"https://github.com/ethz-asl/virus_nerf.":[206]},"counts_by_year":[{"year":2025,"cited_by_count":2}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}
