KFS$^4$LAM: Adaptive KeyFrame Selection with Structure-Aware Mapping for Endoscopic Gaussian Splatting SLAM

arXiv cs.CV

2026 年 10 月 19 日 12:00 · 约 1 分钟阅读

阅读语言

当前为来源原文，可切换为中文译文。

内容导读

arXiv:2610.22505v1 Announce Type: new Abstract: Gaussian-splatting Simultaneous Localization and Mapping (SLAM) augments conventional SLAM with a dense, renderable 3D scene representation, enabling high-quality reconstruction and novel-view synthesis. However, its localization, reconstruction, and rendering performance depends strongly on which observations are retained for mapping. Existing systems commonly rely on fixed temporal intervals or simple pose- and overlap-based criteria for keyframe selection. In colonoscopy, non-uniform camera motion, repetitive anatomy, specularities, and visual artifacts can make these criteria unreliable, leading to either redundant keyframes or missed informative viewpoints. We present KFS$^4$LAM (KeyFrame Selection with Structure-aware mapping for endoscopic Gaussian Splatting SLAM), which couples motion-guided adaptive keyframe selection with structurally supervised mapping and restricted temporal deformation. Accumulated motion guides adaptive keyframe selection, with complementary cues suppressing redundant or unreliable candidates. Density-aware mapping with anatomical contour supervision (colon folds) emphasizes structurally informative regions, while restricted temporal deformation accommodates local tissue dynamics without unconstrained geometric drift. We evaluate KFS$^4$LAM against Gaussian-SLAM baselines on C3VD and C3VD-v2, together with cross-backbone and component ablations. KFS$^4$LAM achieves strong overall performance across trajectory, rendering, and depth metrics, with pronounced gains on more challenging C3VD-v2 dataset. In the matched comparison with SplaTAM on C3VD-v2, it reduces rotational relative pose error by 20.3% and depth RMSE by 38.4%, while improving PSNR by 0.78 dB. Cross-backbone experiments further show that the framework is not tied to a single underlying SLAM architecture. Code and visualization results are available at https://xinweiju.github.io/KFSLAM/.

arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website.

Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them.

Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs .

READ THE ORIGINAL

阅读原始报道，获取完整语境。

本文内容来自 arXiv cs.CV，版权归原作者与发布方所有。

前往原始出处 ↗

SSCI 聚合公开资讯，内容以原始出处为准。反馈内容问题或申请更正

读者讨论

THE CONVERSATION

围绕事实与观点交流，尊重彼此。评论经审核后公开。

正在加载评论…

延伸阅读KEEP EXPLORING

查看全部

研究前沿

AuditKIT: A Unified Evaluation Spine for Benchmarking, Judging, and Comparing Large Language Models and Agentic Systems

arXiv:2610.22511v1 Announce Type: new Abstract: Evaluating language models and agents requires combining benchmark accuracy, judge-based assessment, runtime performance, tool-use behavior, and retrieval quality. Differences in interfaces, metric semantics, and trace formats complicate these comparisons and can hide failures in agentic workflows. We present AuditKIT, a source-available evaluation library that records these measurements in one result representation, with direction-aware metric contracts, configuration fingerprints, and extensible metrics and backends. For agents, it provides turn-aware tool-call matching, separates parallel from sequential execution, and distinguishes verified task outcomes from trajectory-level diagnostics. Missing or unobservable evidence is marked unscored rather than counted as failure. For retrieval-augmented generation, it combines ranked retrieval metrics, judged grounding, and deterministic evidence checks. Seven case studies spanning model comparison, serving runtimes, retrieval, tool calling, and interoperability show how answer extraction, runtime behavior, and metric selection change evaluation outcomes.

arXiv cs.CL·10-19 12:00

研究前沿

Event-STVG: Spatio-Temporal Video Grounding for Long-Form Event Reasoning

arXiv:2610.22444v1 Announce Type: new Abstract: Spatio-Temporal Video Grounding (STVG) aims to jointly localize a target in space and time given a natural-language query. Despite continued advances, existing STVG benchmarks remain largely centered on localizing targets through instance-specific descriptions, leaving them largely decoupled from long-form reasoning increasingly emphasized in multimodal large language models (MLLMs). In this paper, we introduce Event-STVG, a task that shifts STVG from locating what is described toward event-level reasoning by unifying long-form context, repeated-event reasoning, event localization, role inference, and multi-target grounding. To facilitate research on Event-STVG, we construct a large-scale benchmark comprising 4,016 annotated event occurrences across soccer and seven additional domains. Experiments with state-of-the-art MLLMs reveal substantial difficulty, with the strongest model achieving only 5.4% m-vIoU at the 10-minute horizon. Across domains, we consistently observe confusion among repeated same-type events, spatial grounding bottlenecks, and rare success in jointly grounding all required roles. Event-STVG establishes a new challenge for visual understanding in MLLMs, calling for future models that can jointly reason about complex events across space and time. Code and annotations are available at https://github.com/THU-KEG/EventSTVG

arXiv cs.CV·10-19 12:00

研究前沿

Embeddings Are Overpriced? A Frozen 16 MB Vocabulary for Small and Ternary Language Models

arXiv:2610.22428v1 Announce Type: new Abstract: In a small language model the vocabulary is the single largest part. In Gemma 3 270M the embedding table holds 168M of 268M parameters, and because quantisation methods leave the embedding in 16-bit, it is also most of the file once the rest of the model is compressed. We ask what that table actually buys. We replace it with one frozen table of 512-bit codes, 16 MB, with no trainable parameters, derived once from a pretrained embedding by principal-component projection and sign binarisation, and we train the same Gemma-shaped body from scratch on the same 2.05B tokens with and without it. The learned table buys 0.20 nats of validation loss for 2.6 times the trainable parameters, but on LAMBADA, HellaSwag and PIQA the frozen-table model is better or tied; only ARC-Easy favours the learned table. With a ternary BitNet b1.58 body the whole model is a 46 MB file, still ties the float model on LAMBADA and PIQA, and on a laptop CPU generates 615 to 740 tokens per second in 62 MB of memory, five to six times the speed of the float model's 8-bit GGUF in llama.cpp at a seventh of the memory. The frozen table wins by 1.7 to 2.3 nats on rare words, accepts 10,000 new words after training with a 3% cost where the learned table collapses by 43%, and all of it is released with the weights, the data and every evaluation answer.

arXiv cs.CL·10-19 12:00