# BARD-GS: Blur-Aware Reconstruction of Dynamic Scenes via Gaussian Splatting

arXiv: https://arxiv.org/abs/2503.15835 · HTML: https://mlsanity.com/paper/2503.15835/

## Key facts

- Cited by 19 papers in the map (data through 14 Oct 2026).
- Builds on 53 of its 63 references that are in the map.
- First posted on arXiv 20 Mar 2025.

## Builds on (most cited first, 30 of 53)

- [The Unreasonable Effectiveness of Deep Features as a Perceptual Metric](https://mlsanity.com/paper/1801.03924/) (2018)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Restormer: Efficient Transformer for High-Resolution Image Restoration](https://mlsanity.com/paper/2111.09881/) (2021)
- [Depth Anything V2](https://mlsanity.com/paper/2406.09414/) (2024)
- [MUSIQ: Multi-scale Image Quality Transformer](https://mlsanity.com/paper/2108.05997/) (2021)
- [Multi-Stage Progressive Image Restoration](https://mlsanity.com/paper/2102.02808/) (2021)
- [Deformable 3D Gaussians for High-Fidelity Monocular Dynamic Scene Reconstruction](https://mlsanity.com/paper/2309.13101/) (2023)
- [Dynamic 3D Gaussians: Tracking by Persistent Dynamic View Synthesis](https://mlsanity.com/paper/2308.09713/) (2023)
- [NICE-SLAM: Neural Implicit Scalable Encoding for SLAM](https://mlsanity.com/paper/2112.12130/) (2021)
- [Instruct-NeRF2NeRF: Editing 3D Scenes with Instructions](https://mlsanity.com/paper/2303.12789/) (2023)
- [iMAP: Implicit Mapping and Positioning in Real-Time](https://mlsanity.com/paper/2103.12352/) (2021)
- [Real-time Photorealistic Dynamic Scene Representation and Rendering with 4D Gaussian Splatting](https://mlsanity.com/paper/2310.10642/) (2023)
- [Gaussian Splatting SLAM](https://mlsanity.com/paper/2312.06741/) (2023)
- [SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM](https://mlsanity.com/paper/2312.02126/) (2023)
- [CLIP-NeRF: Text-and-Image Driven Manipulation of Neural Radiance Fields](https://mlsanity.com/paper/2112.05139/) (2021)
- [DeblurGAN: Blind Motion Deblurring Using Conditional Adversarial Networks](https://mlsanity.com/paper/1711.07064/) (2017)
- [DeblurGAN-v2: Deblurring (Orders-of-Magnitude) Faster and Better](https://mlsanity.com/paper/1908.03826/) (2019)
- [Spacetime Gaussian Feature Splatting for Real-Time Dynamic View Synthesis](https://mlsanity.com/paper/2312.16812/) (2023)
- [GaussianEditor: Swift and Controllable 3D Editing with Gaussian Splatting](https://mlsanity.com/paper/2311.14521/) (2023)
- [TAPIR: Tracking Any Point with per-frame Initialization and temporal Refinement](https://mlsanity.com/paper/2306.08637/) (2023)
- [Shape of Motion: 4D Reconstruction from a Single Video](https://mlsanity.com/paper/2407.13764/) (2024)
- [Track Anything: Segment Anything Meets Videos](https://mlsanity.com/paper/2304.11968/) (2023)
- [Real-Time Intermediate Flow Estimation for Video Frame Interpolation](https://mlsanity.com/paper/2011.06294/) (2020)
- [Deep Stacked Hierarchical Multi-patch Network for Image Deblurring](https://mlsanity.com/paper/1904.03468/) (2019)
- [4D-Rotor Gaussian Splatting: Towards Efficient Novel View Synthesis for Dynamic Scenes](https://mlsanity.com/paper/2402.03307/) (2024)
- [NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fields](https://mlsanity.com/paper/2210.13641/) (2022)
- [Deblur-NeRF: Neural Radiance Fields from Blurry Images](https://mlsanity.com/paper/2111.14292/) (2021)
- [GaussianEditor: Editing 3D Gaussians Delicately with Text Instructions](https://mlsanity.com/paper/2311.16037/) (2023)
- [Stripformer: Strip Transformer for Fast Image Deblurring](https://mlsanity.com/paper/2204.04627/) (2022)
- [A micro Lie theory for state estimation in robotics](https://mlsanity.com/paper/1812.01537/) (2018)

## Built on by (most cited first, 19 of 19)

- [RealX3D: A Physically-Degraded 3D Benchmark for Multi-view Visual Restoration and Reconstruction](https://mlsanity.com/paper/2512.23437/) (2025)
- [DEGS: Deformable Event-based 3D Gaussian Splatting from RGB and Event Stream](https://mlsanity.com/paper/2510.07752/) (2025)
- [EGG-Fusion: Efficient 3D Reconstruction with Geometry-aware Gaussian Surfel on the Fly](https://mlsanity.com/paper/2512.01296/) (2025)
- [Breaking the Vicious Cycle: Coherent 3D Gaussian Splatting from Sparse and Motion-Blurred Views](https://mlsanity.com/paper/2512.10369/) (2025)
- [SplitGaussian: Reconstructing Dynamic Scenes via Visual Geometry Decomposition](https://mlsanity.com/paper/2508.04224/) (2025)
- [NimbusGS: Unified 3D Scene Reconstruction under Hybrid Weather](https://mlsanity.com/paper/2603.27228/) (2026)
- [Dynamic Gaussian Splatting from Defocused and Motion-blurred Monocular Videos](https://mlsanity.com/paper/2510.10691/) (2025)
- [AsyncEvGS: Asynchronous Event-Assisted Gaussian Splatting for Handheld Motion-Blurred Scenes](https://mlsanity.com/paper/2605.07192/) (2026)
- [Reconstructing the Dynamic World: A Representation-Centric View of 4D Scene Reconstruction](https://mlsanity.com/paper/2609.39960/) (2026)
- [ShowMak3r: Compositional TV Show Reconstruction](https://mlsanity.com/paper/2504.19584/) (2025)
- [UPGS: Unified Pose-aware Gaussian Splatting for Dynamic Scene Deblurring](https://mlsanity.com/paper/2509.00831/) (2025)
- [Recovering 3D Shapes from Ultra-Fast Motion-Blurred Images](https://mlsanity.com/paper/2602.07860/) (2026)
- [DefenseSplat: Enhancing the Robustness of 3D Gaussian Splatting via Frequency-Aware Filtering](https://mlsanity.com/paper/2602.19323/) (2026)
- [S2D: Sparse to Dense Lifting for 3D Reconstruction with Minimal Inputs](https://mlsanity.com/paper/2603.10893/) (2026)
- [Kinematics-Driven Gaussian Shape Deformation for Blurry Monocular Dynamic Scenes](https://mlsanity.com/paper/2605.08635/) (2026)
- [DLGStream: Dynamic Language-embedded Guassian Splatting for Open-vocabulary Enabled Free-viewpoint Video Streaming](https://mlsanity.com/paper/2606.28840/) (2026)
- [EvoGS: Modeling Deformation Evolution for Dynamic Gaussian Splatting](https://mlsanity.com/paper/2609.00994/) (2026)
- [EdMCGS: Event-Driven Markov Chain Gaussian Splatting for Extreme-Low-Frame-Rate Dynamic Scene Reconstruction](https://mlsanity.com/paper/2609.08332/) (2026)
- [ProDyGS: Dynamic Gaussian Splatting from a Single Static Monocular Camera](https://mlsanity.com/paper/2609.32711/) (2026)

## Abstract (arXiv)

3D Gaussian Splatting (3DGS) has shown remarkable potential for static scene reconstruction, and recent advancements have extended its application to dynamic scenes. However, the quality of reconstructions depends heavily on high-quality input images and precise camera poses, which are not that trivial to fulfill in real-world scenarios. Capturing dynamic scenes with handheld monocular cameras, for instance, typically involves simultaneous movement of both the camera and objects within a single exposure. This combined motion frequently results in image blur that existing methods cannot adequately handle. To address these challenges, we introduce BARD-GS, a novel approach for robust dynamic scene reconstruction that effectively handles blurry inputs and imprecise camera poses. Our method comprises two main components: 1) camera motion deblurring and 2) object motion deblurring. By explicitly decomposing motion blur into camera motion blur and object motion blur and modeling them separately, we achieve significantly improved rendering results in dynamic regions. In addition, we collect a real-world motion blur dataset of dynamic scenes to evaluate our approach. Extensive experiments demonstrate that BARD-GS effectively reconstructs high-quality dynamic scenes under realistic conditions, significantly outperforming existing methods.