  How do we infer a 3D scene from a single image in the presence of corruptions
like rain, snow or fog? Straightforward domain randomization relies on knowing
the family of corruptions ahead of time. Here, we propose a Bayesian
approach-dubbed robust inverse graphics (RIG)-that relies on a strong scene
prior and an uninformative uniform corruption prior, making it applicable to a
wide range of corruptions. Given a single image, RIG performs posterior
inference jointly over the scene and the corruption. We demonstrate this idea
by training a neural radiance field (NeRF) scene prior and using a secondary
NeRF to represent the corruptions over which we place an uninformative prior.
RIG, trained only on clean data, outperforms depth estimators and alternative
NeRF approaches that perform point estimation instead of full inference. The
results hold for a number of scene prior architectures based on normalizing
flows and diffusion models. For the latter, we develop reconstruction-guidance
with auxiliary latents (ReGAL)-a diffusion conditioning algorithm that is
applicable in the presence of auxiliary latent variables such as the
corruption. RIG demonstrates how scene priors can be used beyond generation
tasks.
