Towards Better Robustness: Progressively Joint Pose-3DGS Learning for Arbitrarily Long Videos

3D Gaussian Splatting (3DGS) has emerged as a powerful representation due to its efficiency and high-fidelity rendering. However, 3DGS training requires a known camera pose for each input view, typically obtained by Structure-from-Motion (SfM) pipelines. Pioneering works have attempted to relax this restriction but still face difficulties when handling long sequences with complex camera trajectories. In this work, we propose Rob-GS, a robust framework to progressively estimate camera poses and optimize 3DGS for arbitrarily long video sequences. Leveraging the inherent continuity of videos, we design an adjacent pose tracking method to ensure stable pose estimation between consecutive frames. To handle arbitrarily long inputs, we adopt a "divide and conquer" scheme that adaptively splits the video sequence into several segments and optimizes them separately. Extensive experiments on the Tanks and Temples dataset and our collected real-world dataset show that our Rob-GS outperforms the state-of-the-arts.

Gaussian in the Dark: Real-Time View Synthesis From Inconsistent Dark Images Using Gaussian Splatting

3D Gaussian Splatting has recently emerged as a powerful representation that can synthesize remarkable novel views using consistent multi-view images as input. However, we notice that images captured in dark environments where the scenes are not fully illuminated can exhibit considerable brightness variations and multi-view inconsistency, which poses great challenges to 3D Gaussian Splatting and severely degrades its performance. To tackle this problem, we propose Gaussian-DK. Observing that inconsistencies are mainly caused by camera imaging, we represent a consistent radiance field of the physical world using a set of anisotropic 3D Gaussians, and design a camera response module to compensate for multi-view inconsistencies. We also introduce a step-based gradient scaling strategy to constrain Gaussians near the camera, which turn out to be floaters, from splitting and cloning. Experiments on our proposed benchmark dataset demonstrate that Gaussian-DK produces high-quality renderings without ghosting and floater artifacts and significantly outperforms existing methods. Furthermore, we can also synthesize light-up images by controlling exposure levels that clearly show details in shadow areas.