Previous deblurring methods mostly tackle global motion blur due to camera shake but struggle with local motion blur from object movement, facing challenges like the random motion blur locations, data imbalance, directional ambiguity, and positional uncertainty. To fill the vacancy of real-world local motion deblurring, we establish ReLoBlur, the first real-world local motion deblurring dataset. ReLoBlur is captured by a synchronized beam-splitting photographing system and annotated via our developed Local Blur Foreground Mask Generator (LBFMG). To bridge the gap between local and global motion deblurring, we propose a Local Blur-Aware Gated network (LBAG) with gate blocks to focus deblurring on blurred regions, and a Blur-Aware Patch Cropping Strategy (BAPC) to address the data imbalance problem. Acknowledging directional ambiguity and positional uncertainty from shooting errors and non-uniform object motion, we enhance LBAG with LBAGp, guided by center-related distance, and optimized by a symmetric minimization loss. Extensive experiments prove the reliability of the ReLoBlur dataset, and demonstrate that LBAG and LBAGp achieve better local motion deblurring performance compared to state-of-the-art (SOTA) CNN-based deblurring methods.

Cooperative localization and target tracking are essential for multi-robot systems to implement high-level tasks. To this end, we propose a distributed invariant Kalman filter (KF) based on covariance intersection (CI) for effective multi-robot pose estimation. The paper utilizes the object-level measurement models, which have condensed information further reducing the communication burden. Besides, by modeling states on special Lie groups, and representing uncertainty in corresponding Lie algebras, better linearity and consistency are obtained under the invariant KF framework. We also combine CI and invariant KF to avoid overly confident or conservative estimates in multi-robot systems with intricate and unknown correlations, and some level of robot degradation is acceptable through multi-robot collaboration. The simulation and real data experiment validate the practicability and superiority of the proposed algorithm. The source code is publicly available11https://github.com/LIAS-CUHKSZ/Distributed-object-based-SLAM.

Linear Array Pushbroom (LAP) imaging technology is widely used in the realm of remote sensing. However, images acquired through LAP always suffer from distortion and blur because of camera jitter. Traditional methods for restoring LAP images, such as algorithms estimating the point spread function (PSF), exhibit limited performance. To tackle this issue, we propose a Jitter-Aware Restoration Network (JARNet), to remove the distortion and blur in two stages. In the first stage, we formulate an Optical Flow Correction (OFC) block to refine the optical flow of the degraded LAP images, resulting in pre-corrected images where most of the distortions are alleviated. In the second stage, for further enhancement of the pre-corrected images, we integrate two jitter-aware techniques within the Spatial and Frequency Residual (SFRes) block: 1) introducing Coordinate Attention (CoA) to the SFRes block in order to capture the jitter state in orthogonal direction; 2) manipulating image features in both spatial and frequency domains to leverage local and global priors. Additionally, we develop a data synthesis pipeline, which applies Continue Dynamic Shooting Model (CDSM) to simulate realistic degradation in LAP images. Both the proposed JARNet and LAP image synthesis pipeline establish a foundation for addressing this intricate challenge. Extensive experiments demonstrate that the proposed two-stage method outperforms state-of-the-art image restoration models. Code is available at https://github.com/JHW2000/JARNet.

Infrared and visible image fusion aims to generate a fused image by integrating and distinguishing complementary information from multiple sources. While the cross-attention mechanism with global spatial interactions appears promising, it only capture second-order spatial inter-actions, neglecting higher-order interactions in both spatial and channel dimensions. This limitation hampers the ex-ploitation of synergies between multi-modalities. To bridge this gap, we introduce a Synergistic High-order Interaction Paradigm (SHIP), designed to systematically investigate the spatial fine-grained and global statistics collaborations between infrared and visible images across two fundamental dimensions: 1) Spatial dimension: we construct spatial fine-grained interactions through element-wise multiplication, mathematically equivalent to global interactions, and then foster high-order formats by iteratively aggregating and evolving complementary information, enhancing both efficiency andflexibility; 2) Channel dimension: expanding on channel interactions with first-order statistics (mean), we devise high-order channel interactions to facilitate the discernment of inter-dependencies between source images based on global statistics. Harnessing high-order interactions significantly enhances our model's ability to exploit multi-modal synergies, leading to superior performance over state-of-the-art alternatives, as shown through comprehensive experiments across various benchmarks. Code is available at https://github.com/zheng980629/SHIP.

Local motion blur commonly occurs in real-world photography due to the mixing between moving objects and stationary backgrounds during exposure. Existing image deblurring methods predominantly focus on global deblurring, inadvertently affecting the sharpness of backgrounds in locally blurred images and wasting unnecessary computation on sharp pixels, especially for high-resolution images. This paper aims to adaptively and efficiently restore high-resolution locally blurred images. We propose a local motion deblurring vision Transformer (LMD-ViT) built on adaptive window pruning Transformer blocks (AdaWPT). To focus deblurring on local regions and reduce computation, AdaWPT prunes unnecessary windows, only allowing the active windows to be involved in the deblurring processes. The pruning operation relies on the blurriness confidence predicted by a confidence predictor that is trained end-to-end using a reconstruction loss with Gumbel-Softmax re-parameterization and a pruning loss guided by annotated blur masks. Our method removes local motion blur effectively without distorting sharp regions, demonstrated by its exceptional perceptual and quantitative improvements (+0.28dB) compared to state-of-the-art methods. In addition, our approach substantially reduces FLOPs by 66% and achieves more than a twofold increase in inference speed compared to Transformer-based deblurring methods. We will make our code and annotated blur masks publicly available.

Most existing deblurring methods focus on removing global blur caused by camera shake, while they cannot well handle local blur caused by object movements. To fill the vacancy of local deblurring in real scenes, we establish the first real local motion blur dataset (ReLoBlur), which is captured by a synchronized beam-splitting photographing system and corrected by a post-progressing pipeline. Based on ReLoBlur, we propose a Local Blur-Aware Gated network (LBAG) and several local blur-aware techniques to bridge the gap between global and local deblurring: 1) a blur detection approach based on background subtraction to localize blurred regions; 2) a gate mechanism to guide our network to focus on blurred regions; and 3) a blur-aware patch cropping strategy to address data imbalance problem. Extensive experiments prove the reliability of ReLoBlur dataset, and demonstrate that LBAG achieves better performance than state-of-the-art global deblurring methods and our proposed local blur-aware techniques are effective.