SC-OmniGS: Self-Calibrating Omnidirectional Gaussian Splatting
Huajian Huang Yingshu Chen Longwei Li Hui Cheng Tristan Braud Yajie Zhao Sai-Kit Yeung
360-degree cameras streamline data collection for radiance field 3D reconstruction by capturing comprehensive scene data. However, traditional radiance field methods do not address the specific challenges inherent to 360-degree images. We present SC-OmniGS, a novel self-calibrating omnidirectional Gaussian splatting system for fast and accurate omnidirectional radiance field reconstruction using 360-degree images. Rather than converting 360-degree images to cube maps and performing perspective image calibration, we treat 360-degree images as a whole sphere and derive a mathematical framework that enables direct omnidirectional camera pose calibration accompanied by 3D Gaussians optimization. Furthermore, we introduce a differentiable omnidirectional camera model in order to rectify the distortion of real-world data for performance enhancement. Overall, the omnidirectional camera intrinsic model, extrinsic poses, and 3D Gaussians are jointly optimized by minimizing weighted spherical photometric loss. Extensive experiments have demonstrated that our proposed SC-OmniGS is able to recover a high-quality radiance field from noisy camera poses or even no pose prior in challenging scenarios characterized by wide baselines and non-object-centric configurations. The noticeable performance gain in the real-world dataset captured by consumer-grade omnidirectional cameras verifies the effectiveness of our general omnidirectional camera model in reducing the distortion of 360-degree images.
Self Calibration, Gaussian Splatting, Radiance Field, Omnidirectional Vision, Bundle Adjustment
joint calibrating omnidirectional camera intrinsics and extrinsics to recover fine-grained 3D Gaussians