xr device developers

Abstract: Extended Reality (XR) users do not directly perceive the output of a rendering engine. Instead, rendered images pass through a post-processing pipeline and the physical display-optics path before reaching the eye. Critically, the exact downstream processing can vary significantly at run time, influenced by, for instance, camera pose and display power budget. Traditional 3DGS methods either implicitly assume that this downstream pipeline preserves image quality or cannot adapt to downstream processing changes. To bridge this gap, we present ControlGS, an XR Gaussian rendering pipeline that optimizes end-to-end visual quality. ControlGS models and integrates the entire downstream processing, between the rendering output and the human eye, into the optimization objective. To adapt to downstream processing at run time, ControlGS dynamically generates Gaussian primitives conditioned upon the downstream processing parameters. Experiments show that ControlGS consistently improves end-to-end post-optics XR quality across different neural Gaussian backbones and datasets, with minimal overhead. Code is available at https://horizon-lab.org/controlgs/.

Abstract: Perception in robotics and XR fundamentally relies on good state estimation. Visual-inertial odometry (VIO) and Simultaneous Localization and Mapping (VI-SLAM) are proven ways of achieving this goal in a cost-effective and accurate manner. Efficiency in these systems allows for smaller, cooler, and lighter devices. GPU acceleration is a natural approach for reducing latency, thanks to their wide availability in platforms like embedded computers, mobile phones, and XR headsets. However, previous works in the literature have limited themselves to the use of CUDA for this task, significantly reducing deployment options to a single vendor. We instead leverage the vendor-agnostic Vulkan API, originally designed for the strict performance requirements of 3D graphics applications. In this work, we present VkVIO, the first, to the best of our knowledge, cross-platform GPU-accelerated VIO method. We provide state-of-the-art accuracy with causal estimates required for real-time operation. We deploy VkVIO on a diverse range of devices spanning a workstation, a laptop, and an extremely inexpensive single-board computer, while outperforming CUDA-based systems on the same hardware. VkVIO enables possibilities for low-latency, low-power, and low-cost VIO in robotics and XR.