相关论文: Deblur Gaussian Splatting SLAM

We introduce VGGT-SLAM++, a complete visual SLAM system that leverages the geometry-rich outputs of the Visual Geometry Grounded Transformer (VGGT). The system comprises a visual odometry (front-end) fusing the VGGT feed-forward transformer…

We introduce a fully automatic pipeline for dynamic scene reconstruction from casually captured monocular RGB videos. Rather than designing a new scene representation, we enhance the priors that drive Dynamic Gaussian Splatting. Video…

Existing deep learning methods for image deblurring typically train models using pairs of sharp images and their blurred counterparts. However, synthetically blurring images do not necessarily model the genuine blurring process in…

Deblurring is the task of restoring a blurred image to a sharp one, retrieving the information lost due to the blur. In blind deblurring we have no information regarding the blur kernel. As deblurring can be considered as an image to image…

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…

3D Gaussian Splatting (3DGS) has gained significant attention for their high-quality novel view rendering, motivating research to address real-world challenges. A critical issue is the camera motion blur caused by movement during exposure,…

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…

While recent Gaussian-based SLAM methods achieve photorealistic reconstruction from RGB-D data, their computational performance remains a critical bottleneck. State-of-the-art techniques operate at less than 20 fps, significantly lagging…

SLAM systems based on Gaussian Splatting have garnered attention due to their capabilities for rapid real-time rendering and high-fidelity mapping. However, current Gaussian Splatting SLAM systems usually struggle with large scene…

Reconstructing Dynamic 3D Gaussian Splatting (3DGS) from low-framerate RGB videos is challenging. This is because large inter-frame motions will increase the uncertainty of the solution space. For example, one pixel in the first frame might…

Reconstructing a sequence of sharp images from the blurry input is crucial for enhancing our insights into the captured scene and poses a significant challenge due to the limited temporal features embedded in the image. Spike cameras,…

Blind image deblurring, i.e., deblurring without knowledge of the blur kernel, is a highly ill-posed problem. The problem can be solved in two parts: i) estimate a blur kernel from the blurry image, and ii) given estimated blur kernel,…

The recently developed Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have shown encouraging and impressive results for visual SLAM. However, most representative methods require RGBD sensors and are only available for indoor…

Reconstructing high-fidelity underwater scenes remains a challenging task due to light absorption, scattering, and limited visibility inherent in aquatic environments. This paper presents an enhanced Gaussian Splatting-based framework that…

In this paper, we propose a novel design of image deblurring in the form of one-shot convolution filtering that can directly convolve with naturally blurred images for restoration. The problem of optical blurring is a common disadvantage to…

Complete reconstruction of surgical scenes is crucial for robot-assisted surgery (RAS). Deep depth estimation is promising but existing works struggle with depth discontinuities, resulting in noisy predictions at object boundaries and do…

3D Gaussian Splatting (3DGS) allows flexible adjustments to scene representation, enabling continuous optimization of scene quality during dense visual simultaneous localization and mapping (SLAM) in static environments. However, 3DGS faces…

We present a deep-learning approach to restore a sequence of turbulence-distorted video frames from turbulent deformations and space-time varying blurs. Instead of requiring a massive training sample size in deep networks, we purpose a…

In this paper, we address common error sources for 3D Gaussian Splatting (3DGS) including blur, imperfect camera poses, and color inconsistencies, with the goal of improving its robustness for practical applications like reconstructions…

Present-day deep learning-based motion deblurring methods utilize the pair of synthetic blur and sharp data to regress any particular framework. This task is designed for directly translating a blurry image input into its restored version…