SCRREAM : SCan, Register, REnder And Map:A Framework for Annotating Accurate and Dense 3D Indoor Scenes with a Benchmark

Traditionally, 3d indoor datasets have generally prioritized scale over ground-truth accuracy in order to obtain improved generalization. However, using these datasets to evaluate dense geometry tasks, such as depth rendering, can be problematic as the meshes of the dataset are often incomplete and may produce wrong ground truth to evaluate the details. In this paper, we propose SCRREAM, a dataset annotation framework that allows annotation of fully dense meshes of objects in the scene and registers camera poses on the real image sequence, which can produce accurate ground truth for both sparse 3D as well as dense 3D tasks. We show the details of the dataset annotation pipeline and showcase four possible variants of datasets that can be obtained from our framework with example scenes, such as indoor reconstruction and SLAM, scene editing & object removal, human reconstruction and 6d pose estimation. Recent pipelines for indoor reconstruction and SLAM serve as new benchmarks. In contrast to previous indoor dataset, our design allows to evaluate dense geometry tasks on eleven sample scenes against accurately rendered ground truth depth maps.

3DGS-Calib: 3D Gaussian Splatting for Multimodal SpatioTemporal Calibration

Reliable multimodal sensor fusion algorithms require accurate spatiotemporal calibration. Recently, targetless calibration techniques based on implicit neural representations have proven to provide precise and robust results. Nevertheless, such methods are inherently slow to train given the high computational overhead caused by the large number of sampled points required for volume rendering. With the recent introduction of 3D Gaussian Splatting as a faster alternative to implicit representation methods, we propose to leverage this new rendering approach to achieve faster multi-sensor calibration. We introduce 3DGS-Calib, a new calibration method that relies on the speed and rendering accuracy of 3D Gaussian Splatting to achieve multimodal spatiotemporal calibration that is accurate, robust, and with a substantial speed-up compared to methods relying on implicit neural representations. We demonstrate the superiority of our proposal with experimental results on sequences from KITTI-360, a widely used driving dataset.

SWAGS: Sampling Windows Adaptively for Dynamic 3D Gaussian Splatting

Novel view synthesis has shown rapid progress recently, with methods capable of producing evermore photo-realistic results. 3D Gaussian Splatting has emerged as a particularly promising method, producing high-quality renderings of static scenes and enabling interactive viewing at real-time frame rates. However, it is currently limited to static scenes only. In this work, we extend 3D Gaussian Splatting to reconstruct dynamic scenes. We model the dynamics of a scene using a tunable MLP, which learns the deformation field from a canonical space to a set of 3D Gaussians per frame. To disentangle the static and dynamic parts of the scene, we learn a tuneable parameter for each Gaussian, which weighs the respective MLP parameters to focus attention on the dynamic parts. This improves the model's ability to capture dynamics in scenes with an imbalance of static to dynamic regions. To handle scenes of arbitrary length whilst maintaining high rendering quality, we introduce an adaptive window sampling strategy to partition the sequence into windows based on the amount of movement in the sequence. We train a separate dynamic Gaussian Splatting model for each window, allowing the canonical representation to change, thus enabling the reconstruction of scenes with significant geometric or topological changes. Temporal consistency is enforced using a fine-tuning step with self-supervising consistency loss on randomly sampled novel views. As a result, our method produces high-quality renderings of general dynamic scenes with competitive quantitative performance, which can be viewed in real-time with our dynamic interactive viewer.

HeadGaS: Real-Time Animatable Head Avatars via 3D Gaussian Splatting

3D head animation has seen major quality and runtime improvements over the last few years, particularly empowered by the advances in differentiable rendering and neural radiance fields. Real-time rendering is a highly desirable goal for real-world applications. We propose HeadGaS, the first model to use 3D Gaussian Splats (3DGS) for 3D head reconstruction and animation. In this paper we introduce a hybrid model that extends the explicit representation from 3DGS with a base of learnable latent features, which can be linearly blended with low-dimensional parameters from parametric head models to obtain expression-dependent final color and opacity values. We demonstrate that HeadGaS delivers state-of-the-art results in real-time inference frame rates, which surpasses baselines by up to ~2dB, while accelerating rendering speed by over x10.

Human Gaussian Splatting: Real-time Rendering of Animatable Avatars

This work addresses the problem of real-time rendering of photorealistic human body avatars learned from multi-view videos. While the classical approaches to model and render virtual humans generally use a textured mesh, recent research has developed neural body representations that achieve impressive visual quality. However, these models are difficult to render in real-time and their quality degrades when the character is animated with body poses different than the training observations. We propose the first animatable human model based on 3D Gaussian Splatting, that has recently emerged as a very efficient alternative to neural radiance fields. Our body is represented by a set of gaussian primitives in a canonical space which are deformed in a coarse to fine approach that combines forward skinning and local non-rigid refinement. We describe how to learn our Human Gaussian Splatting (\OURS) model in an end-to-end fashion from multi-view observations, and evaluate it against the state-of-the-art approaches for novel pose synthesis of clothed body. Our method presents a PSNR 1.5dbB better than the state-of-the-art on THuman4 dataset while being able to render at 20fps or more.

CROSSFIRE: Camera Relocalization On Self-Supervised Features from an Implicit Representation

Beyond novel view synthesis, Neural Radiance Fields are useful for applications that interact with the real world. In this paper, we use them as an implicit map of a given scene and propose a camera relocalization algorithm tailored for this representation. The proposed method enables to compute in real-time the precise position of a device using a single RGB camera, during its navigation. In contrast with previous work, we do not rely on pose regression or photometric alignment but rather use dense local features obtained through volumetric rendering which are specialized on the scene with a self-supervised objective. As a result, our algorithm is more accurate than competitors, able to operate in dynamic outdoor environments with changing lightning conditions and can be readily integrated in any volumetric neural renderer.

ImPosIng: Implicit Pose Encoding for Efficient Camera Pose Estimation

We propose a novel learning-based formulation for camera pose estimation that can perform relocalization accurately and in real-time in city-scale environments. Camera pose estimation algorithms determine the position and orientation from which an image has been captured, using a set of geo-referenced images or 3D scene representation. Our new localization paradigm, named Implicit Pose Encoding (ImPosing), embeds images and camera poses into a common latent representation with 2 separate neural networks, such that we can compute a similarity score for each image-pose pair. By evaluating candidates through the latent space in a hierarchical manner, the camera position and orientation are not directly regressed but incrementally refined. Compared to the representation used in structure-based relocalization methods, our implicit map is memory bounded and can be properly explored to improve localization performances against learning-based regression approaches. In this paper, we describe how to effectively optimize our learned modules, how to combine them to achieve real-time localization, and demonstrate results on diverse large scale scenarios that significantly outperform prior work in accuracy and computational efficiency.

LENS: Localization enhanced by NeRF synthesis

Neural Radiance Fields (NeRF) have recently demonstrated photo-realistic results for the task of novel view synthesis. In this paper, we propose to apply novel view synthesis to the robot relocalization problem: we demonstrate improvement of camera pose regression thanks to an additional synthetic dataset rendered by the NeRF class of algorithm. To avoid spawning novel views in irrelevant places we selected virtual camera locations from NeRF internal representation of the 3D geometry of the scene. We further improved localization accuracy of pose regressors using synthesized realistic and geometry consistent images as data augmentation during training. At the time of publication, our approach improved state of the art with a 60% lower error on Cambridge Landmarks and 7-scenes datasets. Hence, the resulting accuracy becomes comparable to structure-based methods, without any architecture modification or domain adaptation constraints. Since our method allows almost infinite generation of training data, we investigated limitations of camera pose regression depending on size and distribution of data used for training on public benchmarks. We concluded that pose regression accuracy is mostly bounded by relatively small and biased datasets rather than capacity of the pose regression model to solve the localization task.

CoordiNet: uncertainty-aware pose regressor for reliable vehicle localization

In this paper, we investigate visual-based camera localization with neural networks for robotics and autonomous vehicles applications. Our solution is a CNN-based algorithm which predicts camera pose (3D translation and 3D rotation) directly from a single image. It also provides an uncertainty estimate of the pose. Pose and uncertainty are learned together with a single loss function. Furthermore, we propose a new fully convolutional architecture, named CoordiNet, designed to embed some of the scene geometry. Our framework outperforms comparable methods on the largest available benchmark, the Oxford RobotCar dataset, with an average error of 8 meters where previous best was 19 meters. We have also investigated the performance of our method on large scenes for real time (18 fps) vehicle localization. In this setup, structure-based methods require a large database, and we show that our proposal is a reliable alternative, achieving 29cm median error in a 1.9km loop in a busy urban area.