Towards Single-Lens Controllable Depth-of-Field Imaging via All-in-Focus Aberration Correction and Monocular Depth Estimation

Controllable Depth-of-Field (DoF) imaging commonly produces amazing visual effects based on heavy and expensive high-end lenses. However, confronted with the increasing demand for mobile scenarios, it is desirable to achieve a lightweight solution with Minimalist Optical Systems (MOS). This work centers around two major limitations of MOS, i.e., the severe optical aberrations and uncontrollable DoF, for achieving single-lens controllable DoF imaging via computational methods. A Depth-aware Controllable DoF Imaging (DCDI) framework is proposed equipped with All-in-Focus (AiF) aberration correction and monocular depth estimation, where the recovered image and corresponding depth map are utilized to produce imaging results under diverse DoFs of any high-end lens via patch-wise convolution. To address the depth-varying optical degradation, we introduce a Depth-aware Degradation-adaptive Training (DA2T) scheme. At the dataset level, a Depth-aware Aberration MOS (DAMOS) dataset is established based on the simulation of Point Spread Functions (PSFs) under different object distances. Additionally, we design two plug-and-play depth-aware mechanisms to embed depth information into the aberration image recovery for better tackling depth-aware degradation. Furthermore, we propose a storage-efficient Omni-Lens-Field model to represent the 4D PSF library of various lenses. With the predicted depth map, recovered image, and depth-aware PSF map inferred by Omni-Lens-Field, single-lens controllable DoF imaging is achieved. Comprehensive experimental results demonstrate that the proposed framework enhances the recovery performance, and attains impressive single-lens controllable DoF imaging results, providing a seminal baseline for this field. The source code and the established dataset will be publicly available at https://github.com/XiaolongQian/DCDI.

Real-World Computational Aberration Correction via Quantized Domain-Mixing Representation

Relying on paired synthetic data, existing learning-based Computational Aberration Correction (CAC) methods are confronted with the intricate and multifaceted synthetic-to-real domain gap, which leads to suboptimal performance in real-world applications. In this paper, in contrast to improving the simulation pipeline, we deliver a novel insight into real-world CAC from the perspective of Unsupervised Domain Adaptation (UDA). By incorporating readily accessible unpaired real-world data into training, we formalize the Domain Adaptive CAC (DACAC) task, and then introduce a comprehensive Real-world aberrated images (Realab) dataset to benchmark it. The setup task presents a formidable challenge due to the intricacy of understanding the target aberration domain. To this intent, we propose a novel Quntized Domain-Mixing Representation (QDMR) framework as a potent solution to the issue. QDMR adapts the CAC model to the target domain from three key aspects: (1) reconstructing aberrated images of both domains by a VQGAN to learn a Domain-Mixing Codebook (DMC) which characterizes the degradation-aware priors; (2) modulating the deep features in CAC model with DMC to transfer the target domain knowledge; and (3) leveraging the trained VQGAN to generate pseudo target aberrated images from the source ones for convincing target domain supervision. Extensive experiments on both synthetic and real-world benchmarks reveal that the models with QDMR consistently surpass the competitive methods in mitigating the synthetic-to-real gap, which produces visually pleasant real-world CAC results with fewer artifacts. Codes and datasets will be made publicly available.

FR-LIO: Fast and Robust Lidar-Inertial Odometry by Tightly-Coupled Iterated Kalman Smoother and Robocentric Voxels

This paper presents a fast lidar-inertial odometry (LIO) system that is robust to aggressive motion. To achieve robust tracking in aggressive motion scenes, we exploit the continuous scanning property of lidar to adaptively divide the full scan into multiple partial scans (named sub-frames) according to the motion intensity. And to avoid the degradation of sub-frames resulting from insufficient constraints, we propose a robust state estimation method based on a tightly-coupled iterated error state Kalman smoother (ESKS) framework. Furthermore, we propose a robocentric voxel map (RC-Vox) to improve the system's efficiency. The RC-Vox allows efficient maintenance of map points and k nearest neighbor (k-NN) queries by mapping local map points into a fixed-size, two-layer 3D array structure. Extensive experiments were conducted on 27 sequences from 4 public datasets and our own dataset. The results show that our system can achieve stable tracking in aggressive motion scenes that cannot be handled by other state-of-the-art methods, while our system can achieve competitive performance with these methods in general scenes. In terms of efficiency, the RC-Vox allows our system to achieve the fastest speed compared with the current advanced LIO systems.