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<h1 align=center font-weight:100> <strong><i>MBA-SLAM:</i></strong> Motion Blur Aware Dense Visual SLAM with Radiance Fields Representation</h1> <h3 align="center">arXiv 2024</h3> <h5 align="center">

arXiv Project page

Overview

<p align="center"> <img src="./assets/MBA-SLAM_compressed.gif" alt="Overview" style="width:75%; height:auto;"> </p> <div> Given a sequence of severe motion blurred images and depth, MBA-SLAM can accurately estimate the <strong><i>local camera motion trajectory</i></strong> of each blurred image within the exposure time and recovers the high quality 3D scene.

Pipeline

<p align="center"> <img src="./assets/pipeline.png" alt="Pipeline" style="width:75%; height:auto;"> </p> <div> <strong><i>Tracking:</i></strong> Our motion blur-aware tracker directly estimates the camera motion trajectory during the exposure time. <strong><i>Mapping:</i></strong> Our mapper generates virtual sharp images along the camera trajectory.