# PRISM3D: Probabilistic Refinement and Robust Initialization for Physically Consistent Scene Modeling under Extreme Motion Blur

arXiv: https://arxiv.org/abs/2607.03855 · HTML: https://mlsanity.com/paper/2607.03855/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 34 of its 43 references that are in the map.
- First posted on arXiv 4 Jul 2026.

## Builds on (most cited first, 30 of 34)

- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Instant Neural Graphics Primitives with a Multiresolution Hash Encoding](https://mlsanity.com/paper/2201.05989/) (2022)
- [Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fields](https://mlsanity.com/paper/2111.12077/) (2021)
- [Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fields](https://mlsanity.com/paper/2103.13415/) (2021)
- [Restormer: Efficient Transformer for High-Resolution Image Restoration](https://mlsanity.com/paper/2111.09881/) (2021)
- [Plenoxels: Radiance Fields without Neural Networks](https://mlsanity.com/paper/2112.05131/) (2021)
- [VGGT: Visual Geometry Grounded Transformer](https://mlsanity.com/paper/2503.11651/) (2025)
- [SuperGlue: Learning Feature Matching with Graph Neural Networks](https://mlsanity.com/paper/1911.11763/) (2019)
- [TensoRF: Tensorial Radiance Fields](https://mlsanity.com/paper/2203.09517/) (2022)
- [Direct Voxel Grid Optimization: Super-fast Convergence for Radiance Fields Reconstruction](https://mlsanity.com/paper/2111.11215/) (2021)
- [PlenOctrees for Real-time Rendering of Neural Radiance Fields](https://mlsanity.com/paper/2103.14024/) (2021)
- [NeRF++: Analyzing and Improving Neural Radiance Fields](https://mlsanity.com/paper/2010.07492/) (2020)
- [Multi-Stage Progressive Image Restoration](https://mlsanity.com/paper/2102.02808/) (2021)
- [KiloNeRF: Speeding up Neural Radiance Fields with Thousands of Tiny MLPs](https://mlsanity.com/paper/2103.13744/) (2021)
- [Common Objects in 3D: Large-Scale Learning and Evaluation of Real-life 3D Category Reconstruction](https://mlsanity.com/paper/2109.00512/) (2021)
- [From Coarse to Fine: Robust Hierarchical Localization at Large Scale](https://mlsanity.com/paper/1812.03506/) (2018)
- [gsplat: An Open-Source Library for Gaussian Splatting](https://mlsanity.com/paper/2409.06765/) (2024)
- [Visual Geometry Grounded Deep Structure From Motion](https://mlsanity.com/paper/2312.04563/) (2023)
- [Image Matching across Wide Baselines: From Paper to Practice](https://mlsanity.com/paper/2003.01587/) (2020)
- [Global Structure-from-Motion Revisited](https://mlsanity.com/paper/2407.20219/) (2024)
- [3D Gaussian Splatting as Markov Chain Monte Carlo](https://mlsanity.com/paper/2404.09591/) (2024)
- [AutoInt: Automatic Integration for Fast Neural Volume Rendering](https://mlsanity.com/paper/2012.01714/) (2020)
- [Pixel-Perfect Structure-from-Motion with Featuremetric Refinement](https://mlsanity.com/paper/2108.08291/) (2021)
- [Bringing a Blurry Frame Alive at High Frame-Rate with an Event Camera](https://mlsanity.com/paper/1811.10180/) (2018)
- [BAD-NeRF: Bundle Adjusted Deblur Neural Radiance Fields](https://mlsanity.com/paper/2211.12853/) (2022)
- [BAD-Gaussians: Bundle Adjusted Deblur Gaussian Splatting](https://mlsanity.com/paper/2403.11831/) (2024)
- [DIVeR: Real-time and Accurate Neural Radiance Fields with Deterministic Integration for Volume Rendering](https://mlsanity.com/paper/2111.10427/) (2021)
- [EvaGaussians: Event Stream Assisted Gaussian Splatting from Blurry Images](https://mlsanity.com/paper/2405.20224/) (2024)
- [ExBluRF: Efficient Radiance Fields for Extreme Motion Blurred Images](https://mlsanity.com/paper/2309.08957/) (2023)

## Abstract (arXiv)

We address the inverse problem of blind 3D scene reconstruction from extremely motion-blurred images, a scenario where traditional Structure-from-Motion (SfM) pipelines fail. Existing approaches typically circumvent this bottleneck by relying on impractical sharp-image supervision. In this work, we introduce PRISM3D, a unified framework enabling robust reconstruction directly from severely degraded inputs. To overcome the lack of a reliable starting point, we propose a Robust Initialization strategy utilizing deep dense tracking method (VGGSfM) to recover global topology where feature matching fails. To the best of our knowledge, we are the first to effectively leverage this paradigm to bootstrap 3D Gaussian Splatting from extreme motion blur. However, while robust, this initialization yields sparse and noisy geometry that causes deterministic optimization to diverge. To resolve this, we propose a coupled solution driven by probability and physics: we adopt a probabilistic formulation for geometric densification via Markov Chain Monte Carlo (MCMC) to robustly populate the sparse priors, while simultaneously modeling physical image formation via continuous Bezier Trajectories. Furthermore, while PRISM3D establishes a highly robust standalone pipeline, the availability of complementary event streams offers an opportunity to push the reconstruction fidelity further. To exploit this, we introduce PRISM3D-E, a multi-modal (RGB + Events) extension that seamlessly integrates high-temporal-resolution events as structural priors to maximize geometric recovery. Because existing datasets lack paired event streams under such severe degradation, we concurrently contribute the PRISM3D-E Benchmark to facilitate rigorous evaluation. Extensive experiments demonstrate that both our standalone RGB framework and its multi-modal extension establish new state-of-the-art performance.