3D Gaussian Splatting

Reconstructing dynamic 3D scenes with photorealistic detail and strong temporal coherence remains a significant challenge. Existing Gaussian splatting approaches for dynamic scene modeling often rely on per-frame optimization, which can overfit to instantaneous states instead of capturing underlying motion dynamics. To address this, we present Mango-GS, a multi-frame, node-guided framework for high-fidelity 4D reconstruction. Mango-GS leverages a temporal Transformer to model motion dependencies within a short window of frames, producing temporally consistent deformations. For efficiency, temporal modeling is confined to a sparse set of control nodes. Each node is represented by a decoupled canonical position and a latent code, providing a stable semantic anchor for motion propagation and preventing correspondence drift under large motion. Our framework is trained end-to-end, enhanced by an input masking strategy and two multi-frame losses to improve robustness. Extensive experiments demonstrate that Mango-GS achieves state-of-the-art reconstruction quality and real-time rendering speed, enabling high-fidelity reconstruction and interactive rendering of dynamic scenes.

3D Gaussian Splatting (3DGS) has emerged as a powerful representation for high-quality rendering across a wide range of applications.However, its high computational demands and large storage costs pose significant challenges for deployment on mobile devices. In this work, we propose a mobile-tailored real-time Gaussian Splatting method, dubbed Mobile-GS, enabling efficient inference of Gaussian Splatting on edge devices. Specifically, we first identify alpha blending as the primary computational bottleneck, since it relies on the time-consuming Gaussian depth sorting process. To solve this issue, we propose a depth-aware order-independent rendering scheme that eliminates the need for sorting, thereby substantially accelerating rendering. Although this order-independent rendering improves rendering speed, it may introduce transparency artifacts in regions with overlapping geometry due to the scarcity of rendering order. To address this problem, we propose a neural view-dependent enhancement strategy, enabling more accurate modeling of view-dependent effects conditioned on viewing direction, 3D Gaussian geometry, and appearance attributes. In this way, Mobile-GS can achieve both high-quality and real-time rendering. Furthermore, to facilitate deployment on memory-constrained mobile platforms, we also introduce first-order spherical harmonics distillation, a neural vector quantization technique, and a contribution-based pruning strategy to reduce the number of Gaussian primitives and compress the 3D Gaussian representation with the assistance of neural networks. Extensive experiments demonstrate that our proposed Mobile-GS achieves real-time rendering and compact model size while preserving high visual quality, making it well-suited for mobile applications.

Explicit 3D representations have already become an essential medium for 3D simulation and understanding. However, the most commonly used point cloud and 3D Gaussian Splatting (3DGS) each suffer from non-photorealistic rendering and significant degradation under sparse inputs. In this paper, we introduce Sparse to Dense lifting (S2D), a novel pipeline that bridges the two representations and achieves high-quality 3DGS reconstruction with minimal inputs. Specifically, the S2D lifting is two-fold. We first present an efficient one-step diffusion model that lifts sparse point cloud for high-fidelity image artifact fixing. Meanwhile, to reconstruct 3D consistent scenes, we also design a corresponding reconstruction strategy with random sample drop and weighted gradient for robust model fitting from sparse input views to dense novel views. Extensive experiments show that S2D achieves the best consistency in generating novel view guidance and first-tier sparse view reconstruction quality under different input sparsity. By reconstructing stable scenes with the least possible captures among existing methods, S2D enables minimal input requirements for 3DGS applications.

Accurate reconstruction of reflective surfaces remains a fundamental challenge in computer vision, with broad applications in real-time virtual reality and digital content creation. Although 3D Gaussian Splatting (3DGS) enables efficient novel-view rendering with explicit representations, its performance on reflective surfaces still lags behind implicit neural methods, especially in recovering fine geometry and surface normals. To address this gap, we propose PolGS++, a physically-guided polarimetric Gaussian Splatting framework for fast reflective surface reconstruction. Specifically, we integrate a polarized BRDF (pBRDF) model into 3DGS to explicitly decouple diffuse and specular components, providing physically grounded reflectance modeling and stronger geometric cues for reflective surface recovery. Furthermore, we introduce a depth-guided visibility mask acquisition mechanism that enables angle-of-polarization (AoP)-based tangent-space consistency constraints in Gaussian Splatting without costly ray-tracing intersections. This physically guided design improves reconstruction quality and efficiency, requiring only about 10 minutes of training. Extensive experiments on both synthetic and real-world datasets validate the effectiveness of our method.

Physical AI faces viewpoint shift between training and deployment, and novel-view robustness is essential for monocular RGB-to-3D perception. We cast Real2Render2Real monocular depth pretraining as imitation-learning-style supervision from a digital twin oracle: a student depth network imitates expert metric depth/visibility rendered from a scene mesh, while 3DGS supplies scalable novel-view observations. We present Splat2Real, centered on novel-view scaling: performance depends more on which views are added than on raw view count. We introduce CN-Coverage, a coverage+novelty curriculum that greedily selects views by geometry gain and an extrapolation penalty, plus a quality-aware guardrail fallback for low-reliability teachers. Across 20 TUM RGB-D sequences with step-matched budgets (N=0 to 2000 additional rendered views, with N unique <= 500 and resampling for larger budgets), naive scaling is unstable; CN-Coverage mitigates worst-case regressions relative to Robot/Coverage policies, and GOL-Gated CN-Coverage provides the strongest medium-high-budget stability with the lowest high-novelty tail error. Downstream control-proxy results versus N provides embodied-relevance evidence by shifting safety/progress trade-offs under viewpoint shift.

Online novel view synthesis requires a model to reconstruct a scene causally from a stream of observations while keeping it renderable at every moment. We present ReCoSplat, an online feed-forward Gaussian Splatting model supporting both posed and unposed inputs, with or without camera intrinsics. While assembling local Gaussians with camera poses scales better than canonical-space prediction, stable training requires ground-truth poses, creating a distribution mismatch when predicted poses are used at inference. To address this, we introduce a Render-and-Compare (ReCo) module. ReCo renders the accumulated scene from the viewpoint of the incoming observation, comparing the render with the observation to produce a stable conditioning signal that helps bridge the mismatch. To support long sequences, we propose a hybrid KV-cache compression strategy combining early-layer truncation with chunk-level selective retention, reducing the KV cache size by over 90% for 100 or more frames. ReCoSplat achieves state-of-the-art performance among online methods while processing 256-view streams at an average input throughput of 45.1 FPS, with an end-of-stream throughput of 41.1 FPS on an RTX 6000 Ada GPU. Code and pretrained models are released at https://freemancheng.com/ReCoSplat .

Recently, the 3D Gaussian splatting (3DGS) technique for real-time radiance field rendering has revolutionized the field of volumetric scene representation, providing users with an immersive experience. But in return, it also poses a large amount of data volume, which is extremely bandwidth-intensive. Cutting-edge researchers have tried to introduce different approaches and construct multiple variants for 3DGS to obtain a more compact scene representation, but it is still challenging for real-time distribution. In this paper, we propose GSStream, a novel volumetric scene streaming system to support 3DGS data format. Specifically, GSStream integrates a collaborative viewport prediction module to better predict users' future behaviors by learning collaborative priors and historical priors from multiple users and users' viewport sequences and a deep reinforcement learning (DRL)-based bitrate adaptation module to tackle the state and action space variability challenge of the bitrate adaptation problem, achieving efficient volumetric scene delivery. Besides, we first build a user viewport trajectory dataset for volumetric scenes to support the training and streaming simulation. Extensive experiments prove that our proposed GSStream system outperforms existing representative volumetric scene streaming systems in visual quality and network usage. Demo video: https://youtu.be/3WEe8PN8yvA.

Progressive transmission of 3D Gaussian Splatting (3DGS) requires each completed transmission stage to be decodable from received data and directly renderable. This work presents ProGS, a progressive codec that organizes anchor-based 3DGS as parent-closed octree prefixes. ProGS combines parent-causal entropy coding, level-balanced anchor growth, bounded multi-prefix training, and lightweight parent-anchor refinement to improve early-prefix quality without altering the complete-model rendering path. One fixed-$λ$ training run yields five deployable rate--quality points from a single bitstream. Experiments on 17 scenes from three datasets evaluate rate--distortion performance, rendering speed, and transmission efficiency against progressive and single-rate baselines. On one representative scene per dataset, ProGS reaches a common quality target with 30.7 $\sim$ 60.7% fewer bytes than HAC-Rand and 22.6 $\sim$ 53.4% fewer bytes than HAC++-Rand. Across the three dataset averages, ProGS-LR uses 4.7 $\sim$ 6.1% fewer bytes than HAC-high while improving SSIM by 0.002 $\sim$ 0.041 and reducing LPIPS by 4.8 $\sim$ 51.2%. The parent-closed syntax makes every prefix causally decodable and directly renderable without future topology. ProGS-HR also yields higher endpoint SSIM and lower LPIPS than PCGS across all three dataset averages, and all five prefixes render in real time. Code is available at https://github.com/ZhiyeTang/ProGS-Official

Simultaneous Localization and Mapping (SLAM) with 3D Gaussian Splatting (3DGS) enables fast, differentiable rendering and high-fidelity reconstruction across diverse real-world scenes. However, existing 3DGS-SLAM approaches handle measurement reliability implicitly, making pose estimation and global alignment susceptible to drift in low-texture regions, transparent surfaces, or areas with complex reflectance properties. To this end, we introduce VarSplat, an uncertainty-aware 3DGS-SLAM system that explicitly learns per-splat appearance variance. By using the law of total variance with alpha compositing, we then render differentiable per-pixel uncertainty map via efficient, single-pass rasterization. This map guides tracking, submap registration, and loop detection toward focusing on reliable regions and contributes to more stable optimization. Experimental results on Replica (synthetic) and TUM-RGBD, ScanNet, and ScanNet++ (real-world) show that VarSplat improves robustness and achieves competitive or superior tracking, mapping, and novel view synthesis rendering compared to existing studies for dense RGB-D SLAM.

3D Gaussian Splatting (3DGS) has emerged as a powerful technique for novel view synthesis, subsequently extending into numerous spatial AI applications. However, most existing 3DGS methods operate in isolation, focusing on specific domains. In this paper, we introduce X-GS, an extensible framework that integrates previously isolated 3DGS methods into the perception module of a VLM for spatial tasks, with two major components: the $\textit{Perceiver}$ and the $\textit{Thinker}$. The $\textit{Perceiver}$ performs online 3DGS-based SLAM with semantic distillation and outputs semantic Gaussians from unposed video streams. It leverages recent vision foundation models for stronger geometric priors, and we introduce three novel optimizations to improve semantic distillation efficiency. The $\textit{Thinker}$ interfaces diverse VLMs with these semantic Gaussians, unlocking spatial multimodal capabilities such as 3D visual grounding and scene captioning. Experimental results on diverse benchmarks demonstrate the efficiency and newly unlocked multimodal capabilities of the X-GS framework.

High-resolution Magnetic Resonance Imaging (MRI) is vital for clinical diagnosis but limited by long acquisition times and motion artifacts. Super-resolution (SR) reconstructs low-resolution scans into high-resolution images, yet existing methods are mutually constrained: paired-data methods achieve efficiency only by relying on costly aligned datasets, while implicit neural representation approaches avoid such data needs at the expense of heavy computation. We propose a zero-shot MRI SR framework using explicit Gaussian representation to balance data requirements and efficiency. MRI-tailored Gaussian parameters embed tissue physical properties, reducing learnable parameters while preserving MR signal fidelity. A physics-grounded volume rendering strategy models MRI signal formation via normalized Gaussian aggregation. Additionally, a brick-based order-independent rasterization scheme enables highly parallel 3D computation, lowering training and inference costs. Experiments on two public MRI datasets show superior reconstruction quality and efficiency, demonstrating the method's potential for clinical MRI SR.

3D scene reconstruction and novel-view synthesis are fundamental for VR, robotics, and content creation. However, most NeRF and 3D Gaussian Splatting pipelines assume clean inputs and degrade under real noise and artifacts. We therefore propose DenoiseSplat, a feed-forward 3D Gaussian splatting method for noisy multi-view images. We build a large-scale, scene-consistent noisy--clean benchmark on RE10K by injecting Gaussian, Poisson, speckle, and salt-and-pepper noise with controlled intensities. With a lightweight MVSplat-style feed-forward backbone, we train end-to-end using only clean 2D renderings as supervision and no 3D ground truth. On noisy RE10K, DenoiseSplat outperforms vanilla MVSplat and a strong two-stage baseline (IDF + MVSplat) in PSNR/SSIM and LPIPS across noise types and levels.

3D Gaussian splatting (3DGS) has become a vital tool for learning a radiance field from multiple posed images. Although 3DGS shows great advantages over NeRF in terms of rendering quality and efficiency, it remains a research challenge to further improve the efficiency of learning 3D Gaussians. To overcome this challenge, we propose novel training strategies and losses to shorten each Gaussian list used to render a pixel, which speeds up the splatting by involving fewer Gaussians along a ray. Specifically, we shrink the size of each Gaussian by resetting their scales regularly, encouraging smaller Gaussians to cover fewer nearby pixels, which shortens the Gaussian lists of pixels. Additionally, we introduce an entropy constraint on the alpha blending procedure to sharpen the weight distribution of Gaussians along each ray, which drives dominant weights larger while making minor weights smaller. As a result, each Gaussian becomes more focused on the pixels where it is dominant, which reduces its impact on nearby pixels, leading to even shorter Gaussian lists. Eventually, we integrate our method into a rendering resolution scheduler which further improves efficiency through progressive resolution increase. We evaluate our method by comparing it with state-of-the-art methods on widely used benchmarks. Our results show significant advantages over others in efficiency without sacrificing rendering quality.

3D Gaussian Splatting (3DGS) achieves real-time novel-view synthesis by optimizing millions of anisotropic Gaussians, yet its training remains expensive, with the backward pass dominating runtime in the post-densification refinement phase. We observe substantial update redundancy in this phase: many sampled views have near-plateaued losses and provide diminishing gradient benefits, but standard training still runs full backpropagation. We propose SkipGS with a novel view-adaptive backward gating mechanism for efficient post-densification training. SkipGS always performs the forward pass to update per-view loss statistics, and selectively skips backward passes when the sampled view's loss is consistent with its recent per-view baseline, while enforcing a minimum backward budget for stable optimization. On Mip-NeRF 360, compared to 3DGS, SkipGS reduces end-to-end training time by 23.1%, driven by a 42.0% reduction in post-densification time, with comparable reconstruction quality. Because it only changes when to backpropagate without modifying the renderer, representation, or loss, SkipGS is plug-and-play and compatible with other complementary efficiency strategies, enabling additive speedups. Code is available at https://github.com/ASU-ESIC-FAN-Lab/SkipGS.

As 3D Gaussian Splatting becomes the de facto representation for interactive 3D assets, robust yet imperceptible watermarking is critical. We present a representation-native framework that separates where to write from how to preserve quality. A Trio-Experts module operates directly on Gaussian primitives to derive priors for carrier selection, while a Safety and Budget Aware Gate (SBAG) allocates Gaussians to watermark carriers, optimized for bit resilience under perturbation and bitrate budgets, and to visual compensators that are insulated from watermark loss. To maintain fidelity, we introduce a channel-wise group mask that controls gradient propagation for carriers and compensators, thereby limiting Gaussian parameter updates, repairing local artifacts, and preserving high-frequency details without increasing runtime. Our design yields view-consistent watermark persistence and strong robustness against common image distortions such as compression and noise, while achieving a favorable robustness-quality trade-off compared with prior methods. In addition, decoupled finetuning provides per-Gaussian attributions that reveal where the message is carried and why those carriers are selected, enabling auditable explainability. Compared with state-of-the-art methods, our approach achieves a PSNR improvement of +0.83 dB and a bit-accuracy gain of +1.24%.

Recent advancements in 3D Gaussian Splatting (3DGS) have shifted the focus toward balancing reconstruction fidelity with computational efficiency. In this work, we propose ImprovedGS+, a high-performance, low-level reinvention of the ImprovedGS strategy, implemented natively within the LichtFeld-Studio framework. By transitioning from high-level Python logic to hardware-optimized C++/CUDA kernels, we achieve a significant reduction in host-device synchronization and training latency. Our implementation introduces a Long-Axis-Split (LAS) CUDA kernel, custom Laplacian-based importance kernels with Non-Maximum Suppression (NMS) for edge scores, and an adaptive Exponential Scale Scheduler. Experimental results on the Mip-NeRF360 dataset demonstrate that ImprovedGS+ establishes a new Pareto-optimal front for scene reconstruction. Our 1M-budget variant outperforms the state-of-the-art MCMC baseline by achieving a 26.8% reduction in training time (saving 17 minutes per session) and utilizing 13.3% fewer Gaussians while maintaining superior visual quality. Furthermore, our full variant demonstrates a 1.28 dB PSNR increase over the ADC baseline with a 38.4% reduction in parametric complexity. These results validate ImprovedGS+ as a scalable, high-speed solution that upholds the core pillars of Speed, Quality, and Usability within the LichtFeld-Studio ecosystem.

Omnidirectional images are increasingly used in robotics and vision due to their wide field of view. However, extending 3D Gaussian Splatting (3DGS) to panoramic camera models remains challenging, as existing formulations are designed for perspective projections and naive adaptations often introduce distortion and geometric inconsistencies. We present Spherical-GOF, an omnidirectional Gaussian rendering framework built upon Gaussian Opacity Fields (GOF). Unlike projection-based rasterization, Spherical-GOF performs GOF ray sampling directly on the unit sphere in spherical ray space, enabling consistent ray-Gaussian interactions for panoramic rendering. To make the spherical ray casting efficient and robust, we derive a conservative spherical bounding rule for fast ray-Gaussian culling and introduce a spherical filtering scheme that adapts Gaussian footprints to distortion-varying panoramic pixel sampling. Extensive experiments on standard panoramic benchmarks (OmniBlender and OmniPhotos) demonstrate competitive photometric quality and substantially improved geometric consistency. Compared with the strongest baseline, Spherical-GOF reduces depth reprojection error by 57% and improves cycle inlier ratio by 21%. Qualitative results show cleaner depth and more coherent normal maps, with strong robustness to global panorama rotations. We further validate generalization on OmniRob, a real-world robotic omnidirectional dataset introduced in this work, featuring UAV and quadruped platforms. The source code and the OmniRob dataset will be released at https://github.com/1170632760/Spherical-GOF.

Novel view synthesis (NVS) is increasingly relevant for edge robotics, where compact and incrementally updatable 3D scene models are needed for SLAM, navigation, and inspection under tight memory and latency budgets. Variational Bayesian Gaussian Splatting (VBGS) enables replay-free continual updates for the 3DGS algorithm by maintaining a probabilistic scene model, but its high-precision computations and large intermediate tensors make on-device training impractical. We present a precision-adaptive optimization framework that enables VBGS training on resource-constrained hardware without altering its variational formulation. We (i) profile VBGS to identify memory/latency hotspots, (ii) fuse memory-dominant kernels to reduce materialized intermediate tensors, and (iii) automatically assign operation-level precisions via a mixed-precision search with bounded relative error. Across the Blender, Habitat, and Replica datasets, our optimised pipeline reduces peak memory from 9.44 GB to 1.11 GB and training time from ~234 min to ~61 min on an A5000 GPU, while preserving (and in some cases improving) reconstruction quality of the state-of-the-art VBGS baseline. We also enable for the first time NVS training on a commercial embedded platform, the Jetson Orin Nano, reducing per-frame latency by 19x compared to 3DGS.

Dynamic scene reconstruction in autonomous driving remains a fundamental challenge due to significant temporal variations, moving objects, and complex scene dynamics. Existing feed-forward 3D models have demonstrated strong performance in static reconstruction but still struggle to capture dynamic motion. To address these limitations, we propose DynamicVGGT, a unified feed-forward framework that extends VGGT from static 3D perception to dynamic 4D reconstruction. Our goal is to model point motion within feed-forward 3D models in a dynamic and temporally coherent manner. To this end, we jointly predict the current and future point maps within a shared reference coordinate system, allowing the model to implicitly learn dynamic point representations through temporal correspondence. To efficiently capture temporal dependencies, we introduce a Motion-aware Temporal Attention (MTA) module that learns motion continuity. Furthermore, we design a Dynamic 3D Gaussian Splatting Head that explicitly models point motion by predicting Gaussian velocities using learnable motion tokens under scene flow supervision. It refines dynamic geometry through continuous 3D Gaussian optimization. Extensive experiments on autonomous driving datasets demonstrate that DynamicVGGT significantly outperforms existing methods in reconstruction accuracy, achieving robust feed-forward 4D dynamic scene reconstruction under complex driving scenarios.

Novel view synthesis from low-light, noisy, and motion-blurred imagery remains a valuable and challenging task. Current volumetric rendering methods struggle with compound degradation, and sequential 2D preprocessing introduces artifacts due to interdependencies. In this work, we introduce FLED-GS, a fast low-light enhancement and deblurring framework that reformulates 3D scene restoration as an alternating cycle of enhancement and reconstruction. Specifically, FLED-GS inserts several intermediate brightness anchors to enable progressive recovery, preventing noise blow-up from harming deblurring or geometry. Each iteration sharpens inputs with an off-the-shelf 2D deblurrer and then performs noise-aware 3DGS reconstruction that estimates and suppresses noise while producing clean priors for the next level. Experiments show FLED-GS outperforms state-of-the-art LuSh-NeRF, achieving 21$\times$ faster training and 11$\times$ faster rendering.

The reflective appearance, especially strong and typically near-field specular reflections, poses a fundamental challenge for accurate surface reconstruction and novel view synthesis. Existing Gaussian splatting methods either fail to model near-field specular reflections or rely on explicit ray tracing at substantial computational cost. We present Ref-DGS, a reflective dual Gaussian splatting framework that addresses this trade-off by decoupling surface reconstruction from specular reflection within an efficient rasterization-based pipeline. Ref-DGS introduces a dual Gaussian scene representation consisting of geometry Gaussians and complementary local reflection Gaussians that capture near-field specular interactions without explicit ray tracing, along with a global environment reflection field for modeling far-field specular reflections. To predict specular radiance, we further propose a lightweight, physically-aware specular adaptive mixing shader that fuses global and local specular features. Experiments demonstrate that Ref-DGS achieves state-of-the-art performance on reflective scenes while training substantially faster than ray-based Gaussian methods.

Deformable 3D Gaussian Splatting (3DGS) has emerged as a popular method for real-time talking head synthesis, offering high-quality renderings at low latency. Tri-planes are a common choice for encoding Gaussians prior to deformation since they provide a compact and continuous representation. However, tri-plane encodings are limited by grid resolution and approximation errors introduced by projecting 3D volumetric fields onto 2D subspaces. Recent work has demonstrated the effectiveness of per-Gaussian embeddings for driving temporal deformations in 4D scene reconstruction. We introduce EmbedTalk, which leverages these embeddings to model speech-driven facial deformations for talking head synthesis. Comprehensive experiments show that EmbedTalk improves rendering quality, lip synchronisation, and motion consistency over previous 3DGS-based methods, while remaining competitive with state-of-the-art generative models. Replacing tri-plane features with embeddings also yields significantly more compact models that achieve 60+ FPS on a laptop GPU (RTX 2060 6 GB). Our code will be placed in the public domain on acceptance.

3D Gaussian Splatting (3DGS) has demonstrated remarkable performance in novel view synthesis and 3D scene reconstruction, but its quality often degrades in real-world environments due to transient distractors, such as moving objects and varying shadows. Existing methods commonly introduce semantic priors from pre-trained vision models either to group pixels into coherent regions or to define perceptual error metrics. However, semantic grouping is often misaligned with the binary static/transient distinction, while perceptual features can be fragile under appearance perturbations introduced during 3DGS optimization. We propose 3DGS-HPC, a framework that addresses these issues by combining two complementary principles: a patch-wise classification strategy that leverages local spatial consistency for robust region-level decisions, and a hybrid classification metric that adaptively integrates photometric and perceptual cues for more reliable separation. Extensive experiments demonstrate the superiority and robustness of our method in mitigating distractors to improve 3DGS-based novel view synthesis. Our project page is https://cnhaox.github.io/3DGS-HPC/ .

High-fidelity visual reconstruction and novel-view synthesis are essential for realistic closed-loop evaluation in autonomous driving. While 4D Gaussian Splatting (4DGS) offers a promising balance of accuracy and efficiency, existing per-scene optimization methods require costly iterative refinement, rendering them unscalable for extensive urban environments. Conversely, current feed-forward approaches often suffer from degraded photometric quality. To address these limitations, we propose ReconDrive, a feed-forward framework that leverages and extends the 3D foundation model VGGT for rapid, high-fidelity 4DGS generation. Our architecture introduces two core adaptations to tailor the foundation model to dynamic driving scenes: (1) Hybrid Gaussian Prediction Heads, which decouple the regression of spatial coordinates and appearance attributes to overcome the photometric deficiencies inherent in generalized foundation features; and (2) a Static-Dynamic 4D Composition strategy that explicitly captures temporal motion via velocity modeling to represent complex dynamic environments. Benchmarked on nuScenes, ReconDrive significantly outperforms existing feed-forward baselines in reconstruction, novel-view synthesis, and 3D perception. It achieves performance competitive with per-scene optimization while being orders of magnitude faster, providing a scalable and practical solution for realistic driving simulation.

This paper introduces MipSLAM, a frequency-aware 3D Gaussian Splatting (3DGS) SLAM framework capable of high-fidelity anti-aliased novel view synthesis and robust pose estimation under varying camera configurations. Existing 3DGS-based SLAM systems often suffer from aliasing artifacts and trajectory drift due to inadequate filtering and purely spatial optimization. To overcome these limitations, we propose an Elliptical Adaptive Anti-aliasing (EAA) algorithm that approximates Gaussian contributions via geometry-aware numerical integration, avoiding costly analytic computation. Furthermore, we present a Spectral-Aware Pose Graph Optimization (SA-PGO) module that reformulates trajectory estimation in the frequency domain, effectively suppressing high-frequency noise and drift through graph Laplacian analysis. Extensive evaluations on Replica and TUM datasets demonstrate that MipSLAM achieves state-of-the-art rendering quality and localization accuracy across multiple resolutions. Code is available at https://github.com/yzli1998/MipSLAM.

Sparse-view computed tomography (CT) is critical for reducing radiation exposure to patients. Recent advances in radiative 3D Gaussian Splatting (3DGS) have enabled fast and accurate sparse-view CT reconstruction. Despite these algorithmic advancements, practical reconstruction fidelity remains fundamentally bounded by the quality of the captured data, raising the crucial yet underexplored problem of X-ray active view selection. Existing active view selection methods are primarily designed for natural-light scenes and fail to capture the unique geometric ambiguities and physical attenuation properties inherent in X-ray imaging. In this paper, we present Perturbed Gaussian Ensemble, an active view selection framework that integrates uncertainty modeling with sequential decision-making, tailored for X-ray Gaussian Splatting. Specifically, we identify low-density Gaussian primitives that are likely to be uncertain and apply stochastic density scaling to construct an ensemble of plausible Gaussian density fields. For each candidate projection, we measure the structural variance of the ensemble predictions and select the one with the highest variance as the next best view. Extensive experimental results on arbitrary-trajectory CT benchmarks demonstrate that our density-guided perturbation strategy effectively eliminates geometric artifacts and consistently outperforms existing baselines in progressive tomographic reconstruction under unified view selection protocols.

We present a novel Eigenentropy-optimized neighboorhood densification strategy EntON in 3D Gaussian Splatting (3DGS) for geometrically accurate and high-quality rendered 3D reconstruction. While standard 3DGS produces Gaussians whose centers and surfaces are poorly aligned with the underlying object geometry, surface-focused reconstruction methods frequently sacrifice photometric accuracy. In contrast to the conventional densification strategy, which relies on the magnitude of the view-space position gradient, our approach introduces a geometry-aware strategy to guide adaptive splitting and pruning. Specifically, we compute the 3D shape feature Eigenentropy from the eigenvalues of the covariance matrix in the k-nearest neighborhood of each Gaussian center, which quantifies the local structural order. These Eigenentropy values are integrated into an alternating optimization framework: During the optimization process, the algorithm alternates between (i) standard gradient-based densification, which refines regions via view-space gradients, and (ii) Eigenentropy-aware densification, which preferentially densifies Gaussians in low-Eigenentropy (ordered, flat) neighborhoods to better capture fine geometric details on the object surface, and prunes those in high-Eigenentropy (disordered, spherical) regions. We provide quantitative and qualitative evaluations on two benchmark datasets: small-scale DTU dataset and large-scale TUM2TWIN dataset, covering man-made objects and urban scenes. Experiments demonstrate that our Eigenentropy-aware alternating densification strategy improves geometric accuracy by up to 33% and rendering quality by up to 7%, while reducing the number of Gaussians by up to 50% and training time by up to 23%. Overall, EnTON achieves a favorable balance between geometric accuracy, rendering quality and efficiency by avoiding unnecessary scene expansion.

3D semantic occupancy prediction has become a crucial perception task for comprehensive scene understanding in autonomous driving. While recent advances have explored 3D Gaussian splatting for occupancy modeling to substantially reduce computational overhead, the generation of high-quality 3D Gaussians relies heavily on accurate geometric cues, which are often insufficient in purely vision-centric paradigms. To bridge this gap, we advocate for injecting the strong geometric grounding capability from Vision Foundation Models (VFMs) into occupancy prediction. In this regard, we introduce Visual Geometry Grounded Gaussian Splatting (VG3S), a novel framework that empowers Gaussian-based occupancy prediction with cross-view 3D geometric grounding. Specifically, to fully exploit the rich 3D geometric priors from a frozen VFM, we propose a plug-and-play hierarchical geometric feature adapter, which can effectively transform generic VFM tokens via feature aggregation, task-specific alignment, and multi-scale restructuring. Extensive experiments on the nuScenes occupancy benchmark demonstrate that VG3S achieves remarkable improvements of 12.6% in IoU and 7.5% in mIoU over the baseline. Furthermore, we show that VG3S generalizes seamlessly across diverse VFMs, consistently enhancing occupancy prediction accuracy and firmly underscoring the immense value of integrating priors derived from powerful, pre-trained geometry-grounded VFMs.

The demand for large-scale digital twins is rapidly growing in robotics and autonomous driving. However, constructing these environments with 3D Gaussian Splatting (3DGS) usually requires expensive, purpose-built data collection. Meanwhile, deployed platforms routinely collect extensive omnidirectional RGB and LiDAR logs, but a significant portion of these sensor data is directly discarded or strictly underutilized due to transmission constraints and the lack of scalable reuse pipeline. In this paper, we present an omnidirectional RGB-LiDAR reuse pipeline that transforms these archived logs into robust initialization assets for 3DGS. Direct conversion of such raw logs introduces practical bottlenecks: inherent non-linear distortion leads to unreliable Structure-from-Motion (SfM) tracking, and dense, unorganized LiDAR clouds cause computational overhead during 3DGS optimization. To overcome these challenges, our pipeline strategically integrates an ERP-to-cubemap conversion module for deterministic spatial anchoring, alongside PRISM-a color stratified downsampling strategy. By bridging these multi-modal inputs via Fast Point Feature Histograms (FPFH) based global registration and Iterative Closest Point (ICP), our pipeline successfully repurposes a considerable fraction of discarded data into usable SfM geometry. Furthermore, our LiDAR-reinforced initialization consistently enhances the final 3DGS rendering fidelity in structurally complex scenes compared to vision-only baselines. Ultimately, this work provides a deterministic workflow for creating simulation-grade digital twins from standard archived sensor logs.

Feed-forward 3D Gaussian Splatting (3DGS) has shown great promise for real-time novel view synthesis, but its application to panoramic imagery remains challenging. Existing methods often rely on multi-view cost volumes for geometric refinement, which struggle to resolve occlusions in sparse-view scenarios. Furthermore, standard volumetric representations like Cartesian Triplanes are poor in capturing the inherent geometry of $360^\circ$ scenes, leading to distortion and aliasing. In this work, we introduce CylinderSplat, a feed-forward framework for panoramic 3DGS that addresses these limitations. The core of our method is a new {cylindrical Triplane} representation, which is better aligned with panoramic data and real-world structures adhering to the Manhattan-world assumption. We use a dual-branch architecture: a pixel-based branch reconstructs well-observed regions, while a volume-based branch leverages the cylindrical Triplane to complete occluded or sparsely-viewed areas. Our framework is designed to flexibly handle a variable number of input views, from single to multiple panoramas. Extensive experiments demonstrate that CylinderSplat achieves state-of-the-art results in both single-view and multi-view panoramic novel view synthesis, outperforming previous methods in both reconstruction quality and geometric accuracy.