相关论文: Deblur Gaussian Splatting SLAM

In this paper we present a complete SLAM system for RGB-D cameras, namely RGB-iD SLAM. The presented approach is a dense direct SLAM method with the main characteristic of working with the depth maps in inverse depth parametrisation for the…

Neural implicit representations have recently shown promising progress in dense Simultaneous Localization And Mapping (SLAM). However, existing works have shortcomings in terms of reconstruction quality and real-time performance, mainly due…

In single image deblurring, the "coarse-to-fine" scheme, i.e. gradually restoring the sharp image on different resolutions in a pyramid, is very successful in both traditional optimization-based methods and recent neural-network-based…

We present FlashSLAM, a novel SLAM approach that leverages 3D Gaussian Splatting for efficient and robust 3D scene reconstruction. Existing 3DGS-based SLAM methods often fall short in sparse view settings and during large camera movements…

Motion blur caused by camera shake, particularly under large or rotational movements, remains a major challenge in image restoration. We propose a deep learning framework that jointly estimates the latent sharp image and the underlying…

Recent advances in dense 3D reconstruction have demonstrated strong capability in accurately capturing local geometry. However, extending these methods to incremental global reconstruction, as required in SLAM systems, remains challenging.…

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…

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…

While dense visual SLAM methods are capable of estimating dense reconstructions of the environment, they suffer from a lack of robustness in their tracking step, especially when the optimisation is poorly initialised. Sparse visual SLAM…

3D Gaussian Splatting (3DGS) has shown remarkable potential for static scene reconstruction, and recent advancements have extended its application to dynamic scenes. However, the quality of reconstructions depends heavily on high-quality…

It is well known that visual SLAM systems based on dense matching are locally accurate but are also susceptible to long-term drift and map corruption. In contrast, feature matching methods can achieve greater long-term consistency but can…

This paper presents a unified framework that allows high-quality dynamic Gaussian Splatting from both defocused and motion-blurred monocular videos. Due to the significant difference between the formation processes of defocus blur and…

SLAM systems based on NeRF have demonstrated superior performance in rendering quality and scene reconstruction for static environments compared to traditional dense SLAM. However, they encounter tracking drift and mapping errors in…

State-of-the-art video deblurring methods cannot handle blurry videos recorded in dynamic scenes, since they are built under a strong assumption that the captured scenes are static. Contrary to the existing methods, we propose a video…

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…

DUSt3R-based end-to-end scene reconstruction has recently shown promising results in dense visual SLAM. However, most existing methods only use image pairs to estimate pointmaps, overlooking spatial memory and global consistency.To this…

Recently neural radiance fields (NeRF) have been widely exploited as 3D representations for dense simultaneous localization and mapping (SLAM). Despite their notable successes in surface modeling and novel view synthesis, existing…

Traditional SLAM algorithms excel at camera tracking, but typically produce incomplete and low-resolution maps that are not tightly integrated with semantics prediction. Recent work integrates Gaussian Splatting (GS) into SLAM to enable…

Deblurring can not only provide visually more pleasant pictures and make photography more convenient, but also can improve the performance of objection detection as well as tracking. However, removing dynamic scene blur from images is a…

We present SLAIM - Simultaneous Localization and Implicit Mapping. We propose a novel coarse-to-fine tracking model tailored for Neural Radiance Field SLAM (NeRF-SLAM) to achieve state-of-the-art tracking performance. Notably, existing…