# NFL-BA: Near-Field Light Bundle Adjustment

# for SLAM in Dynamic Lighting

#### Paper Submission: 23743

#### Please Note: Not all sequence visualizations are available for all methods due to the file size limit.

## C3VD Visualizations

Please allow a moment for point clouds to load after changing sequences.

##### SLAM

##### Depth Input

##### Sequence

##### Input Video

##### Photo-BA Trajectory

##### NFL-BA

##### GT Point Cloud

##### Photo-BA Mapping

##### NFL-BA

Controls: Click and drag inside the viewer to rotate. Use mouse wheel to zoom. Keyboard arrows ( ↑ ↓ ← → ) to move, 'a'/'d' to yaw, 'w'/'s' to pitch, 'q'/'e' to roll. Click here to reset view to default.

## Colon10k Visualizations

### Sequence 4

##### RGB Video

##### Base Point Cloud

##### Our Point Cloud

## In-Door Self Capture Visualizations

##### Indoor Scene

##### Input Video

##### Photo-BA Trajectory

##### NFL-BA

Your browser does not support HTML5 video.

We used the project page of Fuzzy Metaballs as a template.