Unblur-SLAM: Dense Neural SLAM for Blurry Inputs

We propose Unblur-SLAM, a novel RGB SLAM pipeline for sharp 3D reconstruction from blurred image inputs. In contrast to previous work, our approach is able to handle different types of blur and demonstrates state-of-the-art performance in the presence of both motion blur and defocus blur. Moreover, we adjust the computation effort with the amount of blur in the input image. As a first stage, our method uses a feed-forward image deblurring model for which we propose a suitable training scheme that can improve both tracking and mapping modules. Frames that are successfully deblurred by the feed-forward network obtain refined poses and depth through local-global multi-view optimization and loop closure. Frames that fail the first stage deblurring are directly modeled through the global 3DGS representation and an additional blur network to model multiple blurred sub-frames and simulate the blur formation process in 3D space, thereby learning sharp details and refined sub-frame poses. Experiments on several real-world datasets demonstrate consistent improvements in both pose estimation and sharp reconstruction results of geometry and texture.

Deblur Gaussian Splatting SLAM

We present Deblur-SLAM, a robust RGB SLAM pipeline designed to recover sharp reconstructions from motion-blurred inputs. The proposed method bridges the strengths of both frame-to-frame and frame-to-model approaches to model sub-frame camera trajectories that lead to high-fidelity reconstructions in motion-blurred settings. Moreover, our pipeline incorporates techniques such as online loop closure and global bundle adjustment to achieve a dense and precise global trajectory. We model the physical image formation process of motion-blurred images and minimize the error between the observed blurry images and rendered blurry images obtained by averaging sharp virtual sub-frame images. Additionally, by utilizing a monocular depth estimator alongside the online deformation of Gaussians, we ensure precise mapping and enhanced image deblurring. The proposed SLAM pipeline integrates all these components to improve the results. We achieve state-of-the-art results for sharp map estimation and sub-frame trajectory recovery both on synthetic and real-world blurry input data.

Enhancing Cardiovascular Disease Prediction through Multi-Modal Self-Supervised Learning

Accurate prediction of cardiovascular diseases remains imperative for early diagnosis and intervention, necessitating robust and precise predictive models. Recently, there has been a growing interest in multi-modal learning for uncovering novel insights not available through uni-modal datasets alone. By combining cardiac magnetic resonance images, electrocardiogram signals, and available medical information, our approach enables the capture of holistic status about individuals' cardiovascular health by leveraging shared information across modalities. Integrating information from multiple modalities and benefiting from self-supervised learning techniques, our model provides a comprehensive framework for enhancing cardiovascular disease prediction with limited annotated datasets. We employ a masked autoencoder to pre-train the electrocardiogram ECG encoder, enabling it to extract relevant features from raw electrocardiogram data, and an image encoder to extract relevant features from cardiac magnetic resonance images. Subsequently, we utilize a multi-modal contrastive learning objective to transfer knowledge from expensive and complex modality, cardiac magnetic resonance image, to cheap and simple modalities such as electrocardiograms and medical information. Finally, we fine-tuned the pre-trained encoders on specific predictive tasks, such as myocardial infarction. Our proposed method enhanced the image information by leveraging different available modalities and outperformed the supervised approach by 7.6% in balanced accuracy.