Neural Scanning: Rendering and determining geometry of household objects using Neural Radiance Fields

In this paper we present a hardware and software framework for Neural Scanning of household objects using Neural Radiance Fields (NeRF). The NeRF technique tries to learn a probabilistic representation of radiance and density, that can be used to render objects and to export objects' geometry. Our framework allows for easy scanning of the objects by rotating the object while using cameras in a static position. The objects we scan are mostly taken from the Yale-CMU-Berkeley (YCB) object set, and we release our scans as part of a public dataset. Supplementary URL: https: //robocip-aist.github.io/sii_nerf_scans.