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E-3DGS: 3D Gaussian splatting with exposure and motion events

Applied Optics 2025年第14期64卷 3897-3908页

作者： Yin, Xiaoting Shi, Hao Bao, Yuhan Bing, Zhenshan Liao, Yiyi Yang, Kailun Wang, Kaiwei State Key Laboratory of Modern Optical Instrumentation Zhejiang University Hangzhou China The Chair of Robotics AI and Real-Time Systems Technical University of Munich Munich Germany College of Information Science and Electronic Engineering Zhejiang University Hangzhou China School of Robotics and National Engineering Research Center of Robot Visual Perception and Control Technology Hunan University Changsha China

Achieving 3D reconstruction from images captured under optimal conditions has been extensively studied in the vision and imaging fields. However, in real-world scenarios, challenges such as motion blur and insufficient illumination often limit the performance of standard frame-based cameras in delivering high-quality images. To address these limitations, we incorporate a transmittance adjustment device at the hardware level, enabling event cameras to capture both motion and exposure events for diverse 3D reconstruction scenarios. Motion events (triggered by camera or object movement) are collected in fast-motion scenarios when the device is inactive, while exposure events (generated through controlled camera exposure) are captured during slower motion to reconstruct grayscale images for high-quality training and optimization of event-based 3D Gaussian splatting (3DGS). Our framework supports three modes: high-quality reconstruction using exposure events, fast reconstruction relying on motion events, and balanced hybrid optimizing with initial exposure events followed by high-speed motion events. On the EventNeRF dataset, we demonstrate that exposure events significantly improve fine detail reconstruction compared to motion events and outperform frame-based cameras under challenging conditions such as low illumination and overexposure. Furthermore, we introduce EME-3D, a real-world 3D dataset with exposure events, motion events, camera calibration parameters, and sparse point clouds. Our method achieves faster and higher-quality reconstruction than event-based NeRF and is more cost-effective than methods combining event and RGB data. By combining motion and exposure events, E-3DGS sets a new benchmark for event-based 3D reconstruction with robust performance in challenging conditions and lower hardware demands. The source code and dataset are available on GitHub. © 2025 Optica Publishing Group.

关键词： Exposure controls

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Mapping an embedded hard real-time systems SDL specification to an analyzable task network a case study 4th

Mapping an embedded hard real-time systems SDL specification...

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4th ACM SIGPLAN Workshop on Languages, Compilers, and Tools for Embedded systems, LCTES 1998

作者： Kolloch, Thomas Färber, Georg Laboratory for Process Control and Real-Time Systems Technische Universität Miinchen Germany

ISBN: (纸本)354065075X

It is undoubtedly true, that the usage of a formal specification methodology in software design will reduce the development effort, particularly as embedded hard real-time systems show increasing functional complexity. We suggest the use of the language SDL even for the design of real-time systems with hard timing constraints. Emerging problems, caused by the non-deterministic semantics of SDL, can be solved by adding EDF process activation to the SDL system model. This paper describes the different steps necessary to map a SDL system specification to an analyzable task network. Considering a SDL process as a typical server process, the mapping rules are resolving the resulting interdependencies and delays, caused by possible priority inversion and blocking. Finally the study of an application example, the "Mine control System" proofs the usabilty of the introduced methods. © Springer-Verlag Berlin Heidelberg 1998.

关键词： Software design

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real-time self-localization in unknown indoor environments using a panorama laser range finder

Real-time self-localization in unknown indoor environments u...

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Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and systems. Part 2 (of 3)

作者： Einsele, Tobias Lab for Process Control and Real-Time Systems Muenchen Germany

This paper deals with self-localization of a mobile robot on the condition that no a-priori knowledge about the environment is available. The applied method features to be accurate, robust, independent of any artificial landmarks and feasible with such a moderate computational effort that all necessary tasks can be executed in real-time on a standard PC. The perception system used is a panorama laser range finder (PLRF) which takes scans of its present environment. A modified Dynamic Programming (DP) algorithm provides pattern matching and pattern recognition on the preprocessed panorama scans and thereby renders a qualitative fusion of the sensor data. For an exact quantitative estimate of the robot's current position, a robust localization module is employed. The knowledge gained about the environment along that way is stored in a self-growing, graph based map which combines geometrical information and topological restrictions. Preliminary experiments in a common office environment proved the reliability and efficiency of the system.

关键词： Mobile robots

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Identification of 3d reference structures for video-based localization 3rd

Identification of 3d reference structures for video-based lo...

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3rd Asian Conference on Computer Vision, ACCV 1998

作者： Burschka, Darius Blum, Stefan A. Laboratory for Process Control and Real-Time Systems Technische Universität München MünchenD-80333 Germany

ISBN: (纸本)3540639306

The bootstrap-problem o/self-localization in indoor environments is a demanding task for initial localization and topological navigation. The ability to determine the position in an a priori known or already explored environment allows unsupervised use of mobile robots in environments such as private households. This paper presents our approach to identify a given set of known reference structures in a three-dimensional map of the local environment. This map is constructed from the data extracted by a line-based stereo camera system mounted on a mobile vehicle. We present the method used to identify objects and to compute the vehicle's position in a world frame. © Springer-Verlag Berlin Heidelberg 1997.

关键词： Stereo image processing

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An MPEG-processor-based robot vision system for real-time detection of moving objects by a moving observer

An MPEG-processor-based robot vision system for real-time de...

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14th International Conference on Pattern Recognition, ICPR 1998

作者： Stöffler, Norbert O. Schnepf, Zoltan Laboratory for Process Control and Real-Time Systems Technische Universität München D-80333 München Germany

ISBN: (纸本)0818685123

Describes a PC-based vision system that can be used to detect moving objects from a mobile robot. An image processing board equipped with an MPEG motion estimation processor calculates a sparse but robust optic flow in real-time. An algorithm to evaluate this kind of optic flow has been realized in software. It determines relevant motion parameters and a simple scene interpretation in terms of moving object regions. The image processing board and the algorithm are presented in some detail;the performance of the system is demonstrated by experiments. © 1998 IEEE.

关键词： Motion estimation

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Schedulability Analysis for Communicating Tasks on a Multiprocessor System

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IFAC Proceedings Volumes 1998年第14期31卷 31-36页

作者： Shuhua Wang Georg Färber Laboratory for Process Control and Real Time Systems Technische Universität München Germany

In this paper a schedulability analysis algorithm for communicating tasks on a multiprocessor system is proposed. The precedence constraints caused by communications are represented by offsets and modified deadlines. The communication cost between two tasks residing on different processors has influence on both the offset as well as the modified deadline. To simplify the analysis, the algorithm classifies tasks into two groups: transactions and jobs. Transaction is a set of tasks with the same period length. Job is a set of tasks with precedence constraints within a transaction. Because of the precedence constraints, tasks within the same job can not interfere with each other. With this method the interference caused by higher priority tasks can be easily determined. In addition to precedence constraints, communication costs are also taken into account in the proposed algorithm which is different from the former schedulability analyses.

关键词： Schedulability analysis multiprocessor systems precedence constraints

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On the Schedulability Analysis for Distributed real-time systems

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IFAC Proceedings Volumes 1999年第1期32卷 227-232页

作者： Shuhua Wang Georg Färber Laboratory for Process Control and Real-Time Systems Technische Universität München Germany

In distributed hard real-time systems, tasks not only have timing constraints but also often have precedence constraints caused by communication among them. In this paper a new schedulability analysis algorithm for distributed hard real-time systems is proposed in which both precedence constraints and communication costs are considered and represented by offsets and modified deadlines. To obtain a tight upper bound for the worst case response time, the concepts of local critical instant and local worst case response time are introduced. They are used to calculate global worst case response time in the system. The proposed schedulability analysis is compared with other schedulability analyses using test cases. The comparison shows that the proposed analysis is more accurate than the compared analyses.

关键词： Schedulability analysis distributed systems hard real-time precedence constraints

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Fusing a Panoramic Laser Range Finder with a Binocular Stereo System Using Hypothetical Features

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IFAC Proceedings Volumes 1998年第3期31卷 357-362页

作者： Christof Eberst G. Förber Laboratory of Process Control and Real-Time Systems Technische Universität München 80290 Munich Germany

This paper describes an approach to stabilize video based exploration by fusing sensorially explored 3D video features with hypothetical ones which are converted from laser features. The approach does neither pose constraints on the sensor control, nor does it require congruent or simultaneous observations. The fusion simplifies the interpretation of the sensor data.

关键词： sensor fusion structure recognition exploration map generation laser range finder

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The arbitrated networked control systems approach to designing cyber-physical systems

The arbitrated networked control systems approach to designi...

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3rd IFAC Workshop on Distributed Estimation and control in Networked systems, NECSYS 2012

作者： Annaswamy, Anuradha Chakraborty, Samarjit Soudbakhsh, Damoon Goswami, Dip Voit, Harald Active-adaptive Control Laboratory MIT Cambridge MA United States Institute for Real-Time Systems TU Munich Germany

ISBN: (纸本)9783902823229

The domain of networked control systems (NCS) has traditionally been concerned with modeling and designing distributed controllers in the presence of control message loss, varying delay and jitter. Here, the characteristics of the network are assumed to be given and the focus has largely been on the controller. While this is meaningful in the context of control over wireless networks, where the network is assumed to be predesigned, in many other domains there is considerable flexibility in designing the network itself. For example, in an automotive architecture, distributed controllers are implemented on multiple electronic control units (ECUs) that communicate over CAN or FlexRay buses. The network design problem in this case consists of mapping control tasks to ECUs, and determining both the scheduling parameters for the ECUs as well as those for the communication buses. Given a choice of these parameters, the controller design problem is similar to that studied in NCS, i.e., that of designing/analyzing the controller. However, the joint design and optimization of the network and the controller gives rise to new research questions, that have neither been studied within the NCS, nor within the embedded systems domain. We refer to such systems as arbitrated networked control systems (ANCS) to emphasize the fact that the arbitration policy in the network also needs to be determined, and discuss recent results that have been obtained in the literature in this context. © 2012 IFAC.

关键词： Networked control systems

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Arbitrated Network control systems: A Co-Design of control and Platform for Cyber-Physical systems

Arbitrated Network Control Systems: A Co-Design of Control a...

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Workshop on control of Cyber-Physical systems, CPS 2013

作者： Annaswamy, Anuradha M. Soudbakhsh, Damoon Schneider, Reinhard Goswami, Dip Chakraborty, Samarjit Active-adaptive Control Laboratory MIT Cambridge MA United States Institute for Real-time Systems TU Munich Germany

ISBN: (纸本)9783319011585

关键词： Embedded systems

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