MBA-SLAM: Motion Blur Aware Dense Visual SLAM with Radiance Fields Representation

TPAMI 2025

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.

Citation

If you find this useful, please consider citing our paper:

@article{wang2025mbaslam,
      title     = {MBA-SLAM: MBA-SLAM: Motion Blur Aware Dense Visual SLAM with Radiance Fields Representation},
      author    = {Wang, Peng and Zhao, Lingzhe and Zhang, Yin and Zhao, Shiyu and Liu, Peidong},
      journal   = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
      year      = {2025},
      publisher = {IEEE}
  }

  or

@article{wang2024mbaslam,
      title     = {MBA-SLAM: Motion Blur Aware Gaussian Splatting SLAM},
      author    = {Wang, Peng and Zhao, Lingzhe and Zhang, Yin and Zhao, Shiyu and Liu, Peidong},
      journal   = {arXiv preprint arXiv:2411.08279},
      year      = {2024}
  }