Related papers: Unblur-SLAM: Dense Neural SLAM for Blurry Inputs
The integration of neural rendering and the SLAM system recently showed promising results in joint localization and photorealistic view reconstruction. However, existing methods, fully relying on implicit representations, are so…
We present a real-time monocular dense SLAM system designed bottom-up from MASt3R, a two-view 3D reconstruction and matching prior. Equipped with this strong prior, our system is robust on in-the-wild video sequences despite making no…
Although significant progress has been made in reconstructing sharp 3D scenes from motion-blurred images, a transition to real-world applications remains challenging. The primary obstacle stems from the severe blur which leads to…
This paper proposes a novel approach to regularize the \textit{ill-posed} and \textit{non-linear} blind image deconvolution (blind deblurring) using deep generative networks as priors. We employ two separate generative models --- one…
We introduce DROID-SLAM, a new deep learning based SLAM system. DROID-SLAM consists of recurrent iterative updates of camera pose and pixelwise depth through a Dense Bundle Adjustment layer. DROID-SLAM is accurate, achieving large…
Neural implicit scene representations have recently shown promising results in dense visual SLAM. However, existing implicit SLAM algorithms are constrained to single-agent scenarios, and fall difficulties in large-scale scenes and long…
Current Simultaneous Localization and Mapping (SLAM) methods based on Neural Radiance Fields (NeRF) or 3D Gaussian Splatting excel in reconstructing static 3D scenes but struggle with tracking and reconstruction in dynamic environments,…
Removing spatially variant motion blur from a blurry image is a challenging problem as blur sources are complicated and difficult to model accurately. Recent progress in deep neural networks suggests that kernel free single image deblurring…
We present VGGT-SLAM 2.0, a real-time RGB feed-forward SLAM system which substantially improves upon VGGT-SLAM for incrementally aligning submaps created from VGGT. Firstly, we remove high-dimensional 15-degree-of-freedom drift and planar…
In recent years, the removal of motion blur in photographs has seen impressive progress in the hands of deep learning-based methods, trained to map directly from blurry to sharp images. For this reason, approaches that explicitly use a…
As handheld video cameras are now commonplace and available in every smartphone, images and videos can be recorded almost everywhere at anytime. However, taking a quick shot frequently yields a blurry result due to unwanted camera shake…
Blind image deblurring is a fundamental and challenging computer vision problem, which aims to recover both the blur kernel and the latent sharp image from only a blurry observation. Despite the superiority of deep learning methods in image…
Neural field-based SLAM methods typically employ a single, monolithic field as their scene representation. This prevents efficient incorporation of loop closure constraints and limits scalability. To address these shortcomings, we propose a…
We introduce GeMS, a framework for 3D Gaussian Splatting (3DGS) designed to handle severely motion-blurred images. State-of-the-art deblurring methods for extreme blur, such as ExBluRF, as well as Gaussian Splatting-based approaches like…
We present the first application of 3D Gaussian Splatting in monocular SLAM, the most fundamental but the hardest setup for Visual SLAM. Our method, which runs live at 3fps, utilises Gaussians as the only 3D representation, unifying the…
Depth estimation is of critical interest for scene understanding and accurate 3D reconstruction. Most recent approaches in depth estimation with deep learning exploit geometrical structures of standard sharp images to predict corresponding…
In this paper, we present an efficient visual SLAM system designed to tackle both short-term and long-term illumination challenges. Our system adopts a hybrid approach that combines deep learning techniques for feature detection and…
Monocular SLAM algorithms perform robustly when observing rigid scenes, however, they fail when the observed scene deforms, for example, in medical endoscopy applications. We present DefSLAM, the first monocular SLAM capable of operating in…
We introduce RGS-SLAM, a robust Gaussian-splatting SLAM framework that replaces the residual-driven densification stage of GS-SLAM with a training-free correspondence-to-Gaussian initialization. Instead of progressively adding Gaussians as…
Image deblurring aims to remove undesired blurs from an image captured in a dynamic scene. Much research has been dedicated to improving deblurring performance through model architectural designs. However, there is little work on data…