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SLAM algorithms struggle on endoscopy videos - specularity, textureless, & dynamic near-field lighting. We introduce a Near-Field Light Bundle Adjst. loss (NFL-BA): improves performance of SOTA SLAM, e.g. MonoGS (⬆️35% in tracking, ⬆️48% in mapping). See
19,439 次观看 • 1 年前 •via X (Twitter)
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Roni Sengupta1 年前
Our NFL-BA loss relies on the fact that points closer to the camera (depth map) with orientations facing the camera (normal map) reflect more light. NFL-BA loss is minimized during the Tracking & Mapping phase of existing SLAM frameworks, results shown on 3DGS SLAMs.

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