arXiv:2606.02058cs.CVcs.RO2026-06

用动态高斯溅射模拟事件相机,提升真实感与任务迁移性。

TIDES: Time-Derivative Event Simulation via Deformable Reconstruction

论文配图:TIDES: Time-Derivative Event Simulation via Deformable Reconstruction
图 1 · 摘自论文原文
  • 基于3D场景建模直接计算像素亮度变化,避免帧差误差。
  • 支持每帧多次事件触发,且在遮挡区域自适应提速计算。
  • 还原传感器带宽限制、抖动和丢包等真实噪声特征。

事件相机对环境明暗变化产生异步事件,但真实事件数据集稀缺,仿真至关重要。现有模拟器多从图像序列推导事件时间戳,导致大量阈值穿越共享少数离散时间点,称为时间戳批处理,快速运动和遮挡下问题加剧。本文提出TIDES,一种基于动态高斯溅射的连续时间事件模拟器。由于TIDES基于显式3D场景表示,可直接从场景中获取每个像素的强度动态,而非通过渲染帧相减。这使得无需时间上采样或帧插值即可准确预测多于一次的阈值穿越。相同的3D模型可揭示物体部分遮挡关系;TIDES据此引导自适应时间步长,仅在遮挡动态使亮度变化模型不可靠的区域集中计算。最后,通过像素块级仲裁器建模有限传感器带宽,复现真实传感器的吞吐量、抖动和事件丢失。在配对的RGB-事件基准测试中,TIDES达到当前最优事件流保真度,并显示其生成的事件在真实下游任务中迁移效果优于竞品。

原文摘要 · Abstract (English)

Event cameras emit asynchronous events in response to environmental appearance changes. The scarcity of real-world event datasets makes simulation essential. However, most simulators infer event timestamps from frame sequences, forcing many threshold crossings to share a small set of discrete times; a failure mode we term timestamp batching that worsens under fast motion and occlusion. We present TIDES, a continuous-time event simulator built on dynamic Gaussian splatting. Because TIDES operates on an explicit 3D scene representation with learnt geometry and motion, it can derive per-pixel intensity dynamics directly from the scene, rather than by differencing rendered frames. This enables accurate threshold-crossing prediction, including multiple crossings per rendering step, without temporal upsampling or frame interpolation. The same 3D scene model reveals where objects partially occlude one another; TIDES uses this to guide adaptive time stepping, concentrating computation only in regions where occlusion dynamics make simple models of brightness change unreliable. Finally, we model finite sensor bandwidth using a tile-level arbiter whose throughput, jitter, and event drops reproduce realistic sensor artifacts. Across paired RGB-event benchmarks, TIDES attains state-of-the-art event-stream fidelity. We also show that events simulated by TIDES transfer more effectively to real downstream tasks than competitors'.

事件相机动态建模仿真高斯溅射

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