DynaMoN: Motion-Aware Fast And Robust Camera Localization for Dynamic NeRF

Dynamic reconstruction with neural radiance fields (NeRF) requires accurate camera poses. These are often hard to retrieve with existing structure-from-motion (SfM) pipelines as both camera and scene content can change. We propose DynaMoN that leverages simultaneous localization and mapping (SLAM) jointly with motion masking to handle dynamic scene content. Our robust SLAM-based tracking module significantly accelerates the training process of the dynamic NeRF while improving the quality of synthesized views at the same time. Extensive experimental validation on TUM RGB-D, BONN RGB-D Dynamic and the DyCheck's iPhone dataset, three real-world datasets, shows the advantages of DynaMoN both for camera pose estimation and novel view synthesis.