Gaussian Mapping for Evolving Scenes
This addresses the challenge of evolving scenes in applications like augmented reality and robotics, representing an incremental advance over prior work on short-term dynamics.
The paper tackles the problem of long-term dynamic scene mapping for novel view synthesis by introducing a dynamic adaptation mechanism and keyframe management for 3D Gaussian Splatting, achieving a 29.7% improvement in PSNR and a 3 times improvement in L1 depth error over baselines.
Mapping systems with novel view synthesis (NVS) capabilities, most notably 3D Gaussian Splatting (3DGS), are widely used in computer vision, as well as in various applications, including augmented reality, robotics, and autonomous driving. However, many current approaches are limited to static scenes. While recent works have begun addressing short-term dynamics (motion within the camera's view), long-term dynamics (the scene evolving through changes out of view) remain less explored. To overcome this limitation, we introduce a dynamic scene adaptation mechanism to continuously update 3DGS to reflect the latest changes. Since maintaining consistency remains challenging due to stale observations disrupting the reconstruction process, we further propose a novel keyframe management mechanism that discards outdated observations while preserving as much information as possible. We thoroughly evaluate Gaussian Mapping for Evolving Scenes (GaME) on both synthetic and real-world datasets, achieving a 29.7% improvement in PSNR and a 3 times improvement in L1 depth error over the most competitive baseline.