arXiv Computer Vision
Sep 28

DAPEVO: Deep Adaptive Patch Frame-Event Visual Odometry

DAPEVO is a learned visual odometry system that independently estimates image and event correspondences at shared patch locations and fuses their correlation evidence before motion refinement. It maintains image and event descriptors for each tracked patch, using a learned scalar gate to combine modality-specific correlation embeddings for each patch–frame edge, followed by a shared recurrent refinement and bundle‑adjustment update. The method supports event‑only observations and modality‑aware keyframe culling, achieving low trajectory error even when RGB frames are sparse or degraded, outperforming DPVO, RAMP‑VO, and event‑only DEVO on UZH‑FPV and TartanEvent datasets.

By Luca Gandolfi, Simone Nascivera, Roberto Pellerito, Rong Zou, Chiara Plizzari, Davide Scaramuzza
arXiv Computer Vision
Sep 28

From Mono to Stereo: Accelerating Binocular Gaussian Splatting via Reprojection and Selective Patching

The paper introduces a 2D Gaussian Splatting pipeline that renders a dominant-eye RGB image and depth proxy, then reprojects and selectively patches the affiliated eye to reduce redundant work. By reusing alpha-blending weights and generating adaptive regions of interest, the method cuts sequential binocular rendering time by 15.5% to 28.8% and GPU memory by 6% to 11% on several datasets, with minimal quality loss. It demonstrates a practical efficiency‑quality trade‑off for static‑scene stereo rendering and suggests further evaluation on dynamic scenes and VR hardware.

By Hongfei Zhu, Ling Zhou
arXiv Computer Vision
Sep 7

ASTRA: Asynchronous Spatio-Temporal Reconstruction via Trajectory Alignment

ASTRA (Asynchronous Spatio-Temporal Reconstruction via Trajectory Alignment) tackles the challenge of reconstructing dynamic 3D scenes from temporally asynchronous multi‑camera data. By using 2D motion trajectories as texture‑robust supervision, it jointly optimizes temporal offsets and 3D representations, aligning projected 3D point motion with observed 2D paths while masking unreliable constraints. Experiments on Gaussian Splatting backbones show that ASTRA retains high‑frequency spatial detail, improves PSNR by ~1.4 dB, reduces temporal‑offset MAE by 54 %, and nearly quadruples synchronization success even with up to 25‑frame offsets.

By Junyu Zhu, Hao Zhu, Xinzhuo Zhang, Xu Zhang, Hongdong Li, Zhan Ma, Xun Cao
arXiv Computer Vision
Sep 3

TAPVid-MV: A Benchmark for Tracking Any Point in 3D Across Multiple Views

TAPVid-MV is a new benchmark for tracking any point in 3D across multiple synchronized camera views. It comprises 284 sequences, 1,142 calibrated camera streams, and 109,769 point tracks, covering indoor and outdoor domains and derived from various modalities such as depth, LiDAR, SLAM, and simulation. The dataset is visually verified, and evaluation shows that current multi‑view trackers do not consistently outperform monocular trackers, highlighting geometry recovery as a key bottleneck.

By Skanda Koppula, Frano Rajic, Abdullah Faiz Ur Rahman, Yi Yang, Ignacio Rocco, Jeet Thakwani, Rishabh Kabra, Andrew Zisserman, Joao Carreira, Siyu Tang, Carl Doersch, Gabriel Brostow