MBA-SLAM: Motion Blur Aware Dense Visual SLAM with Radiance Fields Representation
arXiv 2024
[](https://arxiv.org/abs/2411.08279) [](https://wangpeng000.github.io/MBA-SLAM/) ## Overview
Given a sequence of severe motion blurred images and depth, MBA-SLAM can accurately estimate the local camera motion trajectory of each blurred image within the exposure time and recovers the high quality 3D scene.
## Pipeline
Tracking: Our motion blur-aware tracker directly estimates the camera motion trajectory during the exposure time. Mapping: Our mapper generates virtual sharp images along the camera trajectory.