NEURAL RADIANCE FIELD FOR VEHICLE

A computer includes a processor and a memory, and the memory stores instructions executable by the processor to jointly train a geometric NeRF multilayer perceptron (MLP) and a color NeRF MLP to model a scene using an occupancy grid map, camera data of the scene from a camera, and lidar data of the scene from a lidar; supervise the geometric NeRF MLP with the lidar data during the joint training; and supervise the color NeRF MLP with the camera data during the joint training. The geometric NeRF MLP is a neural radiance field modeling a geometry of the scene, and the color NeRF MLP is a neural radiance field modeling colors of the scene.