Too much floaters in a room-scale scene <Have a demo video>

[cyz2727327]

Hi everyone,

Here is the demo video I have recorded in my apartment: https://www.youtube.com/watch?v=HLj9FQZMCg0

The dataset is acquired from a video recording (1m20s) using my Android phone, then with Colmap to get the images. I have a RTX 2080ti, and the scene is trained for more than 30 min, aabb_scale = 16.

As you can clearly see from the video, the scene is filled with floating defects and I'm unable to get anything close to the robot-arm-lab scene demonstrated in the teaser page. I have tried several different scenes for 360 reconstruction, and they all have this problem.

Can anyone please give me some suggestions? What should I do to get better results? Better camera for recording? Pre-generated transform-matrix for each image using AR devices? More powerful GPU?

Thank you !