ES-Gaussian: Gaussian Splatting Mapping via Error Space-Based Gaussian Completion

Accurate and affordable indoor 3D reconstruction is critical for effective robot navigation and interaction. Traditional LiDAR-based mapping provides high precision but is costly, heavy, and power-intensive, with limited ability for novel view rendering. Vision-based mapping, while cost-effective and capable of capturing visual data, often struggles with high-quality 3D reconstruction due to sparse point clouds. We propose ES-Gaussian, an end-to-end system using a low-altitude camera and single-line LiDAR for high-quality 3D indoor reconstruction. Our system features Visual Error Construction (VEC) to enhance sparse point clouds by identifying and correcting areas with insufficient geometric detail from 2D error maps. Additionally, we introduce a novel 3DGS initialization method guided by single-line LiDAR, overcoming the limitations of traditional multi-view setups and enabling effective reconstruction in resource-constrained environments. Extensive experimental results on our new Dreame-SR dataset and a publicly available dataset demonstrate that ES-Gaussian outperforms existing methods, particularly in challenging scenarios. The project page is available at https://chenlu-china.github.io/ES-Gaussian/.

GlobalPointer: Large-Scale Plane Adjustment with Bi-Convex Relaxation

Plane adjustment (PA) is crucial for many 3D applications, involving simultaneous pose estimation and plane recovery. Despite recent advancements, it remains a challenging problem in the realm of multi-view point cloud registration. Current state-of-the-art methods can achieve globally optimal convergence only with good initialization. Furthermore, their high time complexity renders them impractical for large-scale problems. To address these challenges, we first exploit a novel optimization strategy termed \textit{Bi-Convex Relaxation}, which decouples the original problem into two simpler sub-problems, reformulates each sub-problem using a convex relaxation technique, and alternately solves each one until the original problem converges. Building on this strategy, we propose two algorithmic variants for solving the plane adjustment problem, namely \textit{GlobalPointer} and \textit{GlobalPointer++}, based on point-to-plane and plane-to-plane errors, respectively. Extensive experiments on both synthetic and real datasets demonstrate that our method can perform large-scale plane adjustment with linear time complexity, larger convergence region, and robustness to poor initialization, while achieving similar accuracy as prior methods. The code is available at https://github.com/wu-cvgl/GlobalPointer.

DeDoDe v2: Analyzing and Improving the DeDoDe Keypoint Detector

In this paper, we analyze and improve into the recently proposed DeDoDe keypoint detector. We focus our analysis on some key issues. First, we find that DeDoDe keypoints tend to cluster together, which we fix by performing non-max suppression on the target distribution of the detector during training. Second, we address issues related to data augmentation. In particular, the DeDoDe detector is sensitive to large rotations. We fix this by including 90-degree rotations as well as horizontal flips. Finally, the decoupled nature of the DeDoDe detector makes evaluation of downstream usefulness problematic. We fix this by matching the keypoints with a pretrained dense matcher (RoMa) and evaluating two-view pose estimates. We find that the original long training is detrimental to performance, and therefore propose a much shorter training schedule. We integrate all these improvements into our proposed detector DeDoDe v2 and evaluate it with the original DeDoDe descriptor on the MegaDepth-1500 and IMC2022 benchmarks. Our proposed detector significantly increases pose estimation results, notably from 75.9 to 78.3 mAA on the IMC2022 challenge. Code and weights are available at https://github.com/Parskatt/DeDoDe

SyreaNet: A Physically Guided Underwater Image Enhancement Framework Integrating Synthetic and Real Images

Underwater image enhancement (UIE) is vital for high-level vision-related underwater tasks. Although learning-based UIE methods have made remarkable achievements in recent years, it's still challenging for them to consistently deal with various underwater conditions, which could be caused by: 1) the use of the simplified atmospheric image formation model in UIE may result in severe errors; 2) the network trained solely with synthetic images might have difficulty in generalizing well to real underwater images. In this work, we, for the first time, propose a framework \textit{SyreaNet} for UIE that integrates both synthetic and real data under the guidance of the revised underwater image formation model and novel domain adaptation (DA) strategies. First, an underwater image synthesis module based on the revised model is proposed. Then, a physically guided disentangled network is designed to predict the clear images by combining both synthetic and real underwater images. The intra- and inter-domain gaps are abridged by fully exchanging the domain knowledge. Extensive experiments demonstrate the superiority of our framework over other state-of-the-art (SOTA) learning-based UIE methods qualitatively and quantitatively. The code and dataset are publicly available at https://github.com/RockWenJJ/SyreaNet.git.

BALF: Simple and Efficient Blur Aware Local Feature Detector

Local feature detection is a key ingredient of many image processing and computer vision applications, such as visual odometry and localization. Most existing algorithms focus on feature detection from a sharp image. They would thus have degraded performance once the image is blurred, which could happen easily under low-lighting conditions. To address this issue, we propose a simple yet both efficient and effective keypoint detection method that is able to accurately localize the salient keypoints in a blurred image. Our method takes advantages of a novel multi-layer perceptron (MLP) based architecture that significantly improve the detection repeatability for a blurred image. The network is also light-weight and able to run in real-time, which enables its deployment for time-constrained applications. Extensive experimental results demonstrate that our detector is able to improve the detection repeatability with blurred images, while keeping comparable performance as existing state-of-the-art detectors for sharp images.