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Visual-Inertial (VI) fusion is fundamental to accurate and robust state estimation, where camera and IMU measurements are combined according to their respective uncertainties. Existing methods, however, fuse the two modalities with predefined uncertainties, regardless of how reliable each is in the local context, and t...
An efficient generative framework designed to improve in-the-wild robustness under diverse real capture conditions and demonstrate strong perceptual quality, semantic fidelity, and temporal consistency on unseen videos, as well as improved robustness in downstream 3D reconstruction under severe motion blur.
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