Dy3DGS-SLAM: Monocular 3D Gaussian Splatting SLAM for Dynamic Environments

Current Simultaneous Localization and Mapping (SLAM) methods based on Neural Radiance Fields (NeRF) or 3D Gaussian Splatting excel in reconstructing static 3D scenes but struggle with tracking and reconstruction in dynamic environments, such as real-world scenes with moving elements. Existing NeRF-based SLAM approaches addressing dynamic challenges typically rely on RGB-D inputs, with few methods accommodating pure RGB input. To overcome these limitations, we propose Dy3DGS-SLAM, the first 3D Gaussian Splatting (3DGS) SLAM method for dynamic scenes using monocular RGB input. To address dynamic interference, we fuse optical flow masks and depth masks through a probabilistic model to obtain a fused dynamic mask. With only a single network iteration, this can constrain tracking scales and refine rendered geometry. Based on the fused dynamic mask, we designed a novel motion loss to constrain the pose estimation network for tracking. In mapping, we use the rendering loss of dynamic pixels, color, and depth to eliminate transient interference and occlusion caused by dynamic objects. Experimental results demonstrate that Dy3DGS-SLAM achieves state-of-the-art tracking and rendering in dynamic environments, outperforming or matching existing RGB-D methods.

Jointly Learning Selection Matrices For Transmitters, Receivers And Fourier Coefficients In Multichannel Imaging

Strategic subsampling has become a focal point due to its effectiveness in compressing data, particularly in the Full Matrix Capture (FMC) approach in ultrasonic imaging. This paper introduces the Joint Deep Probabilistic Subsampling (J-DPS) method, which aims to learn optimal selection matrices simultaneously for transmitters, receivers, and Fourier coefficients. This task-based algorithm is realized by introducing a specialized measurement model and integrating a customized Complex Learned FISTA (CL-FISTA) network. We propose a parallel network architecture, partitioned into three segments corresponding to the three matrices, all working toward a shared optimization objective with adjustable loss allocation. A synthetic dataset is designed to reflect practical scenarios, and we provide quantitative comparisons with a traditional CRB-based algorithm, standard DPS, and J-DPS.