Supplementary Material for E³NeRF: Efficient Event-Enhanced Neural Radiance Fields from Blurry Images

Neural Radiance Fields (NeRF) achieves impressive novel view rendering performance by learning an implicit 3D representation from sparse view images. However, it is difficult to reconstruct a sharp NeRF from blurry input that often occurs in the wild. To solve this problem, we propose a novel Efficient Event-Enhanced NeRF (E³NeRF) framework, reconstructing a sharp NeRF by utilizing both blurry images and corresponding event streams. A blur rendering loss and an event rendering loss are introduced, which guide the NeRF training via modeling the physical image motion blur process and the event generation process, respectively. To improve the efficiency of the framework, we further leverage the latent spatial-temporal blur information in the event stream to evenly distribute training over temporal blur and focus training on spatial blur. Moreover, a camera pose estimation framework for real-world data is built with the guidance of the events, generalizing the method to more practical applications. Compared to previous image-based and event-based NeRF works, our framework makes more profound use of the internal relationship between events and images. Extensive experiments on both synthetic data and real-world data demonstrate that E³NeRF can effectively learn a sharp NeRF from blurry images, especially for high-speed non-uniform motion and low-light scenes.