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Considering the problem of novel view synthesis (NVS) from only a set of 2D images, we simplify the training process of Neural Radiance Field (NeRF) on forward-facing scenes by removing the requirement of known or pre-computed camera parameters, including both intrinsics and 6DoF poses. To this end, we propose NeRF–, with three contributions: First, we show that the camera parameters can be jointly optimised as learnable parameters with NeRF training, through a photometric reconstruction;arXiv:2102.07064v4 fatcat:jzaoja2hxva2xnurnl5wqllcui