Related papers: Unblur-SLAM: Dense Neural SLAM for Blurry Inputs
In this paper, we address the problem of dynamic scene deblurring in the presence of motion blur. Restoration of images affected by severe blur necessitates a network design with a large receptive field, which existing networks attempt to…
Combining 3D Gaussian splatting with Simultaneous Localization and Mapping (SLAM) has gained popularity as it enables continuous 3D environment reconstruction during motion. However, existing methods struggle in dynamic environments,…
This paper introduces a method to encode the blur operators of an arbitrary dataset of sharp-blur image pairs into a blur kernel space. Assuming the encoded kernel space is close enough to in-the-wild blur operators, we propose an…
Simultaneous Localization and Mapping (SLAM) has been crucial across various domains, including autonomous driving, mobile robotics, and mixed reality. Dense visual SLAM, leveraging RGB-D camera systems, offers advantages but faces…
We propose SNI-SLAM, a semantic SLAM system utilizing neural implicit representation, that simultaneously performs accurate semantic mapping, high-quality surface reconstruction, and robust camera tracking. In this system, we introduce…
As an integral component of blind image deblurring, non-blind deconvolution removes image blur with a given blur kernel, which is essential but difficult due to the ill-posed nature of the inverse problem. The predominant approach is based…
In minimal invasive surgery, it is important to rebuild and visualize the latest deformed shape of soft-tissue surfaces to mitigate tissue damages. This paper proposes an innovative Simultaneous Localization and Mapping (SLAM) algorithm for…
State-of-the-art methods for large-scale 3D reconstruction from RGB-D sensors usually reduce drift in camera tracking by globally optimizing the estimated camera poses in real-time without simultaneously updating the reconstructed surface…
We propose a novel end-to-end RGB-D SLAM, iDF-SLAM, which adopts a feature-based deep neural tracker as the front-end and a NeRF-style neural implicit mapper as the back-end. The neural implicit mapper is trained on-the-fly, while though…
Semantic-aware 3D scene reconstruction is essential for autonomous robots to perform complex interactions. Semantic SLAM, an online approach, integrates pose tracking, geometric reconstruction, and semantic mapping into a unified framework,…
Simultaneous Localization and Mapping (SLAM) systems are fundamental building blocks for any autonomous robot navigating in unknown environments. The SLAM implementation heavily depends on the sensor modality employed on the mobile…
This work proposes a RGB-D SLAM system specifically designed for structured environments and aimed at improved tracking and mapping accuracy by relying on geometric features that are extracted from the surrounding. Structured environments…
Achieving real-time Simultaneous Localization and Mapping (SLAM) based on 3D Gaussian splatting (3DGS) in large-scale real-world environments remains challenging, as existing methods still struggle to jointly achieve low-latency pose…
We address the novel task of jointly reconstructing the 3D shape, texture, and motion of an object from a single motion-blurred image. While previous approaches address the deblurring problem only in the 2D image domain, our proposed…
In recent years, large convolutional neural networks have been widely used as tools for image deblurring, because of their ability in restoring images very precisely. It is well known that image deblurring is mathematically modeled as an…
Neural implicit scene representations have recently shown encouraging results in dense visual SLAM. However, existing methods produce low-quality scene reconstruction and low-accuracy localization performance when scaling up to large indoor…
Restoring a sharp light field image from its blurry input has become essential due to the increasing popularity of parallax-based image processing. State-of-the-art blind light field deblurring methods suffer from several issues such as…
Recent studies in Radiance Fields have paved the robust way for novel view synthesis with their photorealistic rendering quality. Nevertheless, they usually employ neural networks and volumetric rendering, which are costly to train and…
Precise camera tracking, high-fidelity 3D tissue reconstruction, and real-time online visualization are critical for intrabody medical imaging devices such as endoscopes and capsule robots. However, existing SLAM (Simultaneous Localization…
Visual SLAM algorithms have been enhanced through the exploration of Gaussian Splatting representations, particularly in generating high-fidelity dense maps. While existing methods perform reliably in static environments, they often…