イベントカメラとRGBを融合した4D再構成
4D Reconstruction with Events & RGB
RGBのみの4D再構成モデルMonst3Rにイベントカメラ入力枝を追加する最小拡張を行い、3つのベンチマークで精度が平均3.4%向上し、動きが大きいほど効果が大きいことを示した。
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著者: Dulanga Weerakoon, Darshana Rathnayake, Van Minh Do, Hemanth Sabbella, Kaichen Zhou, Fangneng Zhan, Alok Prakash, Sanjay E. Sarma, Archan Misra, Paul Pu Liang
分類: cs.CV
原文アブストラクト
Reconstructing dynamic 3D scenes over time (4D reconstruction) from a single moving camera is central to robotics and AR/VR applications, yet state-of the-art feed-forward methods rely solely on RGB frames and therefore inherit the failure modes of conventional cameras, including motion blur and temporal aliasing under fast or non-uniform camera and object motion. Event cameras report per-pixel brightness changes asynchronously at microsecond resolution, offering a complementary signal that is largely immune to these artifacts, but whether this modality can be incorporated into existing RGB based 4D reconstruction pipelines without a full architectural redesign remains an open question. In this preliminary study, we investigate a minimal extension: we augment Monst3R, an existing RGB-only 4D reconstruction model, with an additional event-camera input branch, leaving the rest of the architecture unchanged. Across 3 benchmark datasets, this simple RGB-event fusion reduces Abs Rel by 3.4% on average relative to the RGB-only Monst3R baseline, and a sensitivity analysis shows that the improvement grows with the magnitude of camera and object motion, with the largest gains observed under high object motion conditions where RGB-only reconstruction degrades most. These early results suggest that even a lightweight, non-invasive fusion of event data can meaningfully improve 4D reconstruction robustness, motivating a more thorough architectural investigation in future work.