3D Reconstruction

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3D reconstruction studies how to infer the shape and appearance of objects or scenes, along with camera positions and motion, from partial observations. Methods range from structure-from-motion and multi-view stereo to neural radiance fields, Gaussian splatting, signed distance fields, meshes, and feed-forward models that predict geometry directly; some also use diffusion priors, active view selection, or physical sensor models. Applications include mapping and robotics, digital twins, medical imaging, and human or object modeling, with evaluations often comparing both rendered views and geometric accuracy on indoor, outdoor, and specialized datasets. A central challenge is that realistic novel-view images do not always imply accurate, metrically consistent geometry, especially with sparse or unposed views, changing scenes, difficult materials, or limited computation.

Latest papers

957 papers121 papers in the last four weeks, up 27% on the four weeks before. 0.7% of all new papers.

Apr 6, 2026

Coverage Optimization for Camera View Selection

What makes a good viewpoint? The quality of the data used to learn 3D reconstructions is crucial for enabling efficient and accurate scene modeling. We study the active view selection problem and develop a principled analysis that yields a simple and interpretable criterion for selecting informative camera poses. Our key insight is that informative views can be obtained by minimizing a tractable approximation of the Fisher Information Gain, which reduces to favoring viewpoints that cover geometry that has been insufficiently observed by past cameras. This leads to a lightweight coverage-based view selection metric that avoids expensive transmittance estimation and is robust to noise and training dynamics. We call this metric COVER (Camera Optimization for View Exploration and Reconstruction). We integrate our method into the Nerfstudio framework and evaluate it on real datasets within fixed and embodied data acquisition scenarios. Across multiple datasets and radiance-field baselines, our method consistently improves reconstruction quality compared to state-of-the-art active view selection methods. Additional visualizations and our Nerfstudio package can be found at https://chengine.github.io/nbv_gym/.

Timothy Chen, Adam Dai, Maximilian Adang +2

Stanford University

Active View Selection Next-Best-View Planning 3D Reconstruction Neural Radiance Fields

Apr 6, 2026

Boxer: Robust Lifting of Open-World 2D Bounding Boxes to 3D

Detecting and localizing objects in space is a fundamental computer vision problem. While much progress has been made to solve 2D object detection, 3D object localization is much less explored and far from solved, especially for open-world categories. To address this research challenge, we propose Boxer, an algorithm to estimate static 3D bounding boxes (3DBBs) from 2D open-vocabulary object detections, posed images and optional depth either represented as a sparse point cloud or dense depth. At its core is BoxerNet, a transformer-based network which lifts 2D bounding box (2DBB) proposals into 3D, followed by multi-view fusion and geometric filtering to produce globally consistent de-duplicated 3DBBs in metric world space. Boxer leverages the power of existing 2DBB detection algorithms (e.g. DETIC, OWLv2, SAM3) to localize objects in 2D. This allows the main BoxerNet model to focus on lifting to 3D rather than detecting, ultimately reducing the demand for costly annotated 3DBB training data. Extending the CuTR formulation, we incorporate an aleatoric uncertainty for robust regression, a median depth patch encoding to support sparse depth inputs, and large-scale training with over 1.2 million unique 3DBBs. BoxerNet outperforms state-of-the-art baselines in open-world 3DBB lifting, including CuTR in egocentric settings without dense depth (0.532 vs. 0.010 mAP) and on CA-1M with dense depth available (0.412 vs. 0.250 mAP).

Daniel DeTone, Tianwei Shen, Fan Zhang +4

Meta Reality Labs Research

3D Object Detection Multi-View 3D Object Detection 3D ViTs 3D Reconstruction

Apr 6, 2026

LSRM: High-Fidelity Object-Centric Reconstruction via Scaled Context Windows

We introduce the Large Sparse Reconstruction Model to study how scaling transformer context windows affects feed-forward 3D reconstruction. Although recent object-centric feed-forward methods produce robust, high-quality reconstructions, they still lag behind dense-view optimization in recovering fine-grained texture and appearance. We show that expanding the context window -- by substantially increasing the number of active object and image tokens -- narrows this gap and enables high-fidelity 3D object reconstruction and inverse rendering. To scale effectively, we adapt native sparse attention for 3D reconstruction with three key contributions: (1) an efficient coarse-to-fine pipeline that focuses computation on informative regions by predicting sparse high-resolution residuals; (2) a 3D-aware spatial routing mechanism that establishes accurate 2D-3D correspondences using explicit geometric distances rather than standard attention scores; and (3) a custom block-aware sequence-parallel strategy with an All-gather-KV protocol to balance dynamic, sparse workloads across GPUs. As a result, LSRM handles 20x more object tokens and >2x more image tokens than prior state-of-the-art (SOTA) methods. Extensive evaluations on standard novel-view synthesis benchmarks show substantial gains over the current SOTA, yielding >2.4dB higher PSNR and >40% lower LPIPS. Furthermore, when extending LSRM to inverse rendering, qualitative and quantitative evaluations on widely used benchmarks demonstrate consistent improvements in texture and geometry details, achieving an LPIPS that matches or exceeds that of SOTA dense-view optimization methods. Code and model weights are available on our project page.

Zhengqin Li, Cheng Zhang, Jakob Engel +1

Meta Reality Labs Research

Object-Centric 3D Reconstruction Inverse Rendering 3D ViTs 3D Reconstruction Novel View Synthesis Sparse Attention+1

Apr 6, 2026

Free-Range Gaussians: Non-Grid-Aligned Generative 3D Gaussian Reconstruction

We present Free-Range Gaussians, a multi-view reconstruction method that predicts non-pixel, non-voxel-aligned 3D Gaussians from as few as four images. This is done through flow matching over Gaussian parameters. Our generative formulation of reconstruction allows the model to be supervised with non-grid-aligned 3D data, and enables it to synthesize plausible content in unobserved regions. Thus, it improves on prior methods that produce highly redundant grid-aligned Gaussians, and suffer from holes or blurry conditional means in unobserved regions. To handle the number of Gaussians needed for high-quality results, we introduce a hierarchical patching scheme to group spatially related Gaussians into joint transformer tokens, halving the sequence length while preserving structure. We further propose a timestep-weighted rendering loss during training, and photometric gradient guidance and classifier-free guidance at inference to improve fidelity. Experiments on Objaverse and Google Scanned Objects show consistent improvements over pixel and voxel-aligned methods while using significantly fewer Gaussians, with large gains when input views leave parts of the object unobserved.

Ahan Shabanov, Peter Hedman, Ethan Weber +10

Meta Reality Labs · Simon Fraser University · University of Oxford +1

3D Reconstruction Multi-View 3D Reconstruction Sparse-View 3D Reconstruction 3D Gaussian Splatting

Apr 6, 2026

ZeD-MAP: Bundle Adjustment Guided Zero-Shot Depth Maps for Real-Time Aerial Imaging

Real-time depth reconstruction from ultra-high-resolution UAV imagery is essential for time-critical geospatial tasks such as disaster response, yet remains challenging due to wide-baseline parallax, large image sizes, low-texture or specular surfaces, occlusions, and strict computational constraints. Recent zero-shot diffusion models offer fast per-image dense predictions without task-specific retraining, and require fewer labelled datasets than transformer-based predictors while avoiding the rigid capture geometry requirement of classical multi-view stereo. However, their probabilistic inference prevents reliable metric accuracy and temporal consistency across sequential frames and overlapping tiles. We present ZeD-MAP, a cluster-level framework that converts a test-time diffusion depth model into a metrically consistent, SLAM-like mapping pipeline by integrating incremental cluster-based bundle adjustment (BA). Streamed UAV frames are grouped into overlapping clusters; periodic BA produces metrically consistent poses and sparse 3D tie-points, which are reprojected into selected frames and used as metric guidance for diffusion-based depth estimation. Validation on ground-marker flights captured at approximately 50 m altitude (GSD is approximately 0.85 cm/px, corresponding to 2,650 square meters ground coverage per frame) with the DLR Modular Aerial Camera System (MACS) shows that our method achieves sub-meter accuracy, with approximately 0.87 m error in the horizontal (XY) plane and 0.12 m in the vertical (Z) direction, while maintaining per-image runtimes between 1.47 and 4.91 seconds. Results are subject to minor noise from manual point-cloud annotation. These findings show that BA-based metric guidance provides consistency comparable to classical photogrammetric methods while significantly accelerating processing, enabling real-time 3D map generation.

Selim Ahmet Iz, Francesco Nex, Norman Kerle +2

German Aerospace Center (DLR), Institute of Space Research, Berlin, Germany · Faculty of Geo-Information Science and Earth Observation (ITC), University of Twente, Enschede, The Netherlands

Aerial 3D Reconstruction 3D Reconstruction Depth Estimation Metric Depth Estimation Streaming 3D Reconstruction

Apr 6, 2026

MVis-Fold: A Three-Dimensional Microvascular Structure Inference Model for Super-Resolution Ultrasound

Super-resolution ultrasound (SRUS) technology has overcome the resolution limitations of conventional ultrasound, enabling micrometer-scale imaging of microvasculature. However, due to the nature of imaging principles, three-dimensional reconstruction of microvasculature from SRUS remains an open challenge. We developed microvascular visualization fold (MVis-Fold), an innovative three-dimensional microvascular reconstruction model that integrates a cross-scale network architecture. This model can perform high-fidelity inference and reconstruction of three-dimensional microvascular networks from two-dimensional SRUS images. It precisely calculates key parameters in three-dimensional space that traditional two-dimensional SRUS cannot readily obtain. We validated the model's accuracy and reliability in three-dimensional microvascular reconstruction of solid tumors. This study establishes a foundation for three-dimensional quantitative analysis of microvasculature. It provides new tools and methods for diagnosis and monitoring of various diseases.

Jincao Yao, Ke Zhang, Yahan Zhou +8

Department of Diagnostic Ultrasound Imaging & Interventional Therapy, Zhejiang Cancer Hospital, Hangzhou Institute of Medicine, Chinese Academy of Sciences, Hangzhou, China · Research Center of Interventional Medicine and Engineering, Hangzhou Institute of Medicine, Chinese Academy of Sciences, Hangzhou, China · Wenling Institute of Big Data and Artificial Intelligence in Medicine, Taizhou, China +8

3D Reconstruction 3D Medical Imaging

Apr 6, 2026

GA-GS: Generation-Assisted Gaussian Splatting for Static Scene Reconstruction

Reconstructing static 3D scene from monocular video with dynamic objects is important for numerous applications such as virtual reality and autonomous driving. Current approaches typically rely on background for static scene reconstruction, limiting the ability to recover regions occluded by dynamic objects. In this paper, we propose GA-GS, a Generation-Assisted Gaussian Splatting method for Static Scene Reconstruction. The key innovation of our work lies in leveraging generation to assist in reconstructing occluded regions. We employ a motion-aware module to segment and remove dynamic regions, and thenuse a diffusion model to inpaint the occluded areas, providing pseudo-ground-truth supervision. To balance contributions from real background and generated region, we introduce a learnable authenticity scalar for each Gaussian primitive, which dynamically modulates opacity during splatting for authenticity-aware rendering and supervision. Since no existing dataset provides ground-truth static scene of video with dynamic objects, we construct a dataset named Trajectory-Match, using a fixed-path robot to record each scene with/without dynamic objects, enabling quantitative evaluation in reconstruction of occluded regions. Extensive experiments on both the DAVIS and our dataset show that GA-GS achieves state-of-the-art performance in static scene reconstruction, especially in challenging scenarios with large-scale, persistent occlusions.

Yedong Shen, Shiqi Zhang, Sha Zhang +6

School of Computer Science and Technology, University of Science and Technology of China, Hefei 230026, China · School of Artificial Intelligence and Data Science, University of Science and Technology of China, Hefei 230026, China · The Chinese University of Hong Kong, Hong Kong 999077, China +3

3D Reconstruction Monocular 3D Reconstruction 3D Gaussian Splatting

Apr 5, 2026

NTIRE 2026 3D Restoration and Reconstruction in Real-world Adverse Conditions: RealX3D Challenge Results

This paper presents a comprehensive review of the NTIRE 2026 3D Restoration and Reconstruction (3DRR) Challenge, detailing the proposed methods and results. The challenge seeks to identify robust reconstruction pipelines that are robust under real-world adverse conditions, specifically extreme low-light and smoke-degraded environments, as captured by our RealX3D benchmark. A total of 279 participants registered for the competition, of whom 33 teams submitted valid results. We thoroughly evaluate the submitted approaches against state-of-the-art baselines, revealing significant progress in 3D reconstruction under adverse conditions. Our analysis highlights shared design principles among top-performing methods and provides insights into effective strategies for handling 3D scene degradation.

Shuhong Liu, Chenyu Bao, Ziteng Cui +103

3D Reconstruction

Apr 5, 2026

HOIGS: Human-Object Interaction Gaussian Splatting

Reconstructing dynamic scenes with complex human-object interactions is a fundamental challenge in computer vision and graphics. Existing Gaussian Splatting methods either rely on human pose priors while neglecting dynamic objects, or approximate all motions within a single field, limiting their ability to capture interaction-rich dynamics. To address this gap, we propose Human-Object Interaction Gaussian Splatting (HOIGS), which explicitly models interaction-induced deformation between humans and objects through a cross-attention-based HOI module. Distinct deformation baselines are employed to extract features: HexPlane for humans and Cubic Hermite Spline (CHS) for objects. By integrating these heterogeneous features, HOIGS effectively captures interdependent motions and improves deformation estimation in scenarios involving occlusion, contact, and object manipulation. Comprehensive experiments on multiple datasets demonstrate that our method consistently outperforms state-of-the-art human-centric and 4D Gaussian approaches, highlighting the importance of explicitly modeling human-object interactions for high-fidelity reconstruction.

Taewoo Kim, Suwoong Yeom, Jaehyun Pyun +6

Department of Electronics Engineering, Sogang University, South Korea · NAVER Cloud Corp, South Korea · Department of Electrical & Electronics Engineering, Pusan National University, South Korea

Human-Scene Interaction Reconstruction 3D Reconstruction Dynamic Scene Reconstruction 3D Gaussian Splatting Human-Object Interaction 3D Human Reconstruction

Apr 4, 2026

Confidence-Driven Facade Refinement of 3D Building Models Using MLS Point Clouds

Digital twins require continuous maintenance to meet the increasing demand for high-precision geospatial data. However, traditional coarse CityGML building models, typically derived from Airborne Laser Scanning (ALS), often exhibit significant geometric deficiencies, particularly regarding facade accuracy due to the nadir perspective of airborne sensors. Integrating these coarse models with high-precision Mobile Laser Scanning (MLS) data is essential to recover detailed facade geometry. Unlike reconstruction-from-scratch approaches that discard existing semantic information and rely heavily on complete data coverage, this work presents an automated refinement framework that utilizes the coarse model as a geometric prior. This method enables targeted updates to facade geometry even in complex urban environments. It integrates surface matching to identify outdated surfaces and employs a binary integer optimization to select optimal faces from candidate data. Crucially, hard constraints are enforced within the optimization to ensure the topological validity of the refined output. Experimental results demonstrate that the proposed approach effectively corrects facade misalignments, reducing the Cloud-to-Mesh RMSE by approximately 36% and achieving centimeter-level alignment. Furthermore, the framework guarantees strictly watertight and manifold geometry, providing a robust solution for upgrading ALS-derived city models.

Xiaoyu Huang

Technical University of Munich

3D Reconstruction

Apr 4, 2026

CGHair: Compact Gaussian Hair Reconstruction with Card Clustering

We present a compact pipeline for high-fidelity hair reconstruction from multi-view images. While recent 3D Gaussian Splatting (3DGS) methods achieve realistic results, they often require millions of primitives, leading to high storage and rendering costs. Observing that hair exhibits structural and visual similarities across a hairstyle, we cluster strands into representative hair cards and group these into shared texture codebooks. Our approach integrates this structure with 3DGS rendering, significantly reducing reconstruction time and storage while maintaining comparable visual quality. In addition, we propose a generative prior accelerated method to reconstruct the initial strand geometry from a set of images. Our experiments demonstrate a 4-fold reduction in strand reconstruction time and achieve comparable rendering performance with over 200x lower memory footprint.

Haimin Luo, Srinjay Sarkar, Albert Mosella-Montoro +2

Carnegie Mellon University · ShanghaiTech University

3D Reconstruction Multi-View 3D Reconstruction 3D Gaussian Splatting 3DGS Compression

Apr 3, 2026

RAIN-FIT: Learning of Fitting Surfaces and Noise Distribution from Large Data Sets

This paper proposes a method for estimating a surface that contains a given set of points from noisy measurements. More precisely, by assuming that the surface is described by the zero set of a function in the span of a given set of features and a parametric description of the distribution of the noise, a computationally efficient method is described that estimates both the surface and the noise distribution parameters. In the provided examples, polynomial and sinusoidal basis functions were used. However, any chosen basis that satisfies the outlined conditions mentioned in the paper can be approximated as a combination of trigonometric, exponential, and/or polynomial terms, making the presented approach highly generalizable. The proposed algorithm exhibits linear computational complexity in the number of samples. Our approach requires no hyperparameter tuning or data preprocessing and effectively handles data in dimensions beyond 2D and 3D. The theoretical results demonstrating the convergence of the proposed algorithm have been provided. To highlight the performance of the proposed method, comprehensive numerical results are conducted, evaluating our method against state-of-the-art algorithms, including Poisson Reconstruction and the Neural Network-based Encoder-X, on 2D and 3D shapes. The results demonstrate the superiority of our method under the same conditions.

Omar M. Sleem, Sahand Kiani, Constantino M. Lagoa

Kyocera International, Inc. · Pennsylvania State University

Point Cloud Surface Reconstruction 3D Reconstruction

Apr 3, 2026

Rendering Multi-Human and Multi-Object with 3D Gaussian Splatting

Reconstructing dynamic scenes with multiple interacting humans and objects from sparse-view inputs is a critical yet challenging task, essential for creating high-fidelity digital twins for robotics and VR/AR. This problem, which we term Multi-Human Multi-Object (MHMO) rendering, presents two significant obstacles: achieving view-consistent representations for individual instances under severe mutual occlusion, and explicitly modeling the complex and combinatorial dependencies that arise from their interactions. To overcome these challenges, we propose MM-GS, a novel hierarchical framework built upon 3D Gaussian Splatting. Our method first employs a Per-Instance Multi-View Fusion module to establish a robust and consistent representation for each instance by aggregating visual information across all available views. Subsequently, a Scene-Level Instance Interaction module operates on a global scene graph to reason about relationships between all participants, refining their attributes to capture subtle interaction effects. Extensive experiments on challenging datasets demonstrate that our method significantly outperforms strong baselines, producing state-of-the-art results with high-fidelity details and plausible inter-instance contacts.

Weiquan Wang, Jun Xiao, Feifei Shao +3

State Key Lab of CAD&CG, College of Computer Science, Zhejiang University, Hangzhou 310027, China · Department of Computer Science and Engineering, The Hong Kong University of Science and Technology, Clear Water Bay, Hong Kong

Dynamic Scene Reconstruction 3D Reconstruction 3D Scene Representation Sparse-View 3D Reconstruction 3D Gaussian Splatting

Apr 3, 2026

HairOrbit: Multi-view Aware 3D Hair Modeling from Single Portraits

Reconstructing strand-level 3D hair from a single-view image is highly challenging, especially when preserving consistent and realistic attributes in unseen regions. Existing methods rely on limited frontal-view cues and small-scale/style-restricted synthetic data, often failing to produce satisfactory results in invisible regions. In this work, we propose a novel framework that leverages the strong 3D priors of video generation models to transform single-view hair reconstruction into a calibrated multi-view reconstruction task. To balance reconstruction quality and efficiency for the reformulated multi-view task, we further introduce a neural orientation extractor trained on sparse real-image annotations for better full-view orientation estimation. In addition, we design a two-stage strand-growing algorithm based on a hybrid implicit field to synthesize the 3D strand curves with fine-grained details at a relatively fast speed. Extensive experiments demonstrate that our method achieves state-of-the-art performance on single-view 3D hair strand reconstruction on a diverse range of hair portraits in both visible and invisible regions.

Leyang Jin, Yujian Zheng, Bingkui Tong +3

Mohamed bin Zayed University of Artificial Intelligence · SSE, The Chinese University of Hong Kong, Shenzhen · Pinscreen

3D Reconstruction Single-View 3D Reconstruction

Apr 3, 2026

InverseDraping: Recovering Sewing Patterns from 3D Garment Surfaces via BoxMesh Bridging

Recovering sewing patterns from draped 3D garments is a challenging problem in human digitization research. In contrast to the well-studied forward process of draping designed sewing patterns using mature physical simulation engines, the inverse process of recovering parametric 2D patterns from deformed garment geometry remains fundamentally ill-posed for existing methods. We propose a two-stage framework that centers on a structured intermediate representation, BoxMesh, which serves as the key to bridging the gap between 3D garment geometry and parametric sewing patterns. BoxMesh encodes both garment-level geometry and panel-level structure in 3D, while explicitly disentangling intrinsic panel geometry and stitching topology from draping-induced deformations. This representation imposes a physically grounded structure on the problem, significantly reducing ambiguity. In Stage I, a geometry-driven autoregressive model infers BoxMesh from the input 3D garment. In Stage II, a semantics-aware autoregressive model parses BoxMesh into parametric sewing patterns. We adopt autoregressive modeling to naturally handle the variable-length and structured nature of panel configurations and stitching relationships. This decomposition separates geometric inversion from structured pattern inference, leading to more accurate and robust recovery. Extensive experiments demonstrate that our method achieves state-of-the-art performance on the GarmentCodeData benchmark and generalizes effectively to real-world scans and single-view images.

Leyang Jin, Zirong Jin, Zisheng Ye +4

Mohamed bin Zayed University of Artificial Intelligence · The Chinese University of Hong Kong, Shenzhen · School of Science and Engineering, The Chinese University of Hong Kong, Shenzhen, FNii-Shenzhen, and Guangdong Provincial Key Laboratory of Future Networks of Intelligence +1

3D Garment Reconstruction 3D Reconstruction Deformable Shape Reconstruction

Apr 3, 2026

Rascene: High-Fidelity 3D Scene Imaging with mmWave Communication Signals

Robust 3D environmental perception is critical for applications such as autonomous driving and robot navigation. However, optical sensors such as cameras and LiDAR often fail under adverse conditions, including smoke, fog, and non-ideal lighting. Although specialized radar systems can operate in these environments, their reliance on bespoke hardware and licensed spectrum limits scalability and cost-effectiveness. This paper introduces Rascene, an integrated sensing and communication (ISAC) framework that leverages ubiquitous mmWave OFDM communication signals for 3D scene imaging. To overcome the sparse and multipath-ambiguous nature of individual radio frames, Rascene performs multi-frame, spatially adaptive fusion with confidence-weighted forward projection, enabling the recovery of geometric consensus across arbitrary poses. Experimental results demonstrate that our method reconstructs 3D scenes with high precision, offering a new pathway toward low-cost, scalable, and robust 3D perception.

Kunzhe Song, Geo Jie Zhou, Xiaoming Liu +1

Department of Computer Science and Engineering, Michigan State University

3D Reconstruction mmWave Radar Sensing Integrated Sensing and Communication

Apr 2, 2026

Review and Evaluation of Point-Cloud based Leaf Surface Reconstruction Methods for Agricultural Applications

Accurate reconstruction of leaf surfaces from 3D point cloud is essential for agricultural applications such as phenotyping. However, real-world plant data (i.e., irregular 3D point cloud) are often complex to reconstruct plant parts accurately. A wide range of surface reconstruction methods has been proposed, including parametric, triangulation-based, implicit, and learning based approaches, yet their relative performance for leaf surface reconstruction remains insufficiently understood. In this work, we present a comparative study of nine representative surface reconstruction methods for leaf surfaces. We evaluate these methods on three publicly available datasets: LAST-STRAW, Pheno4D, and Crops3D - spanning diverse species, sensors, and sensing environments, ranging from clean high-resolution indoor scans to noisy low-resolution field settings. The analysis highlights the trade-offs between surface area estimation accuracy, smoothness, robustness to noise and missing data, and computational cost across different methods. These factors affect the cost and constraints of robotic hardware used in agricultural applications. Our results show that each method exhibits distinct advantages depending on application and resource constraints. The findings provide practical guidance for selecting surface reconstruction techniques for resource constrained robotic platforms.

Arif Ahmed, Parikshit Maini

Department of Computer Science and Engineering, University of Nevada, Reno, Reno 89557, Nevada, USA

Point Cloud Surface Reconstruction 3D Reconstruction Plant Phenotyping

Apr 2, 2026

Delaunay Canopy: Building Wireframe Reconstruction from Airborne LiDAR Point Clouds via Delaunay Graph

Reconstructing building wireframe from airborne LiDAR point clouds yields a compact, topology-centric representation that enables structural understanding beyond dense meshes. Yet a key limitation persists: conventional methods have failed to achieve accurate wireframe reconstruction in regions afflicted by significant noise, sparsity, or internal corners. This failure stems from the inability to establish an adaptive search space to effectively leverage the rich 3D geometry of large, sparse building point clouds. In this work, we address this challenge with Delaunay Canopy, which utilizes the Delaunay graph as a geometric prior to define a geometrically adaptive search space. Central to our approach is Delaunay Graph Scoring, which not only reconstructs the underlying geometric manifold but also yields region-wise curvature signatures to robustly guide the reconstruction. Built on this foundation, our corner and wire selection modules leverage the Delaunay-induced prior to focus on highly probable elements, thereby shaping the search space and enabling accurate prediction even in previously intractable regions. Extensive experiments on the Building3D Tallinn city and entry-level datasets demonstrate state-of-the-art wireframe reconstruction, delivering accurate predictions across diverse and complex building geometries.

Donghyun Kim, Chanyoung Kim, Youngjoong Kwon +1

Emory University, Atlanta GA, USA · Yonsei University, Seoul, Republic of Korea

3D Reconstruction

Apr 2, 2026

Test-Time Adaptation for Height Completion via Self-Supervised ViT Features and Monocular Foundation Models

Accurate digital surface models (DSMs) are essential for many geospatial applications, including urban monitoring, environmental analyses, infrastructure management, and change detection. However, large-scale DSMs frequently contain incomplete or outdated regions due to acquisition limitations, reconstruction artifacts, or changes in the built environment. Traditional height completion approaches primarily rely on spatial interpolation or which assume spatial continuity and therefore fail when objects are missing. Recent learning-based approaches improve reconstruction quality but typically require supervised training on sensor-specific datasets, limiting their generalization across domains and sensing conditions. We propose Prior2DSM, a training-free framework for metric DSM completion that operates entirely at test time by leveraging foundation models. Unlike previous height completion approaches that require task-specific training, the proposed method combines self-supervised Vision Transformer (ViT) features from DINOv3 with monocular depth foundation models to propagate metric information from incomplete height priors through semantic feature-space correspondence. Test-time adaptation (TTA) is performed using parameter-efficient low-rank adaptation (LoRA) together with a lightweight multilayer perceptron (MLP), which predicts spatially varying scale and shift parameters to convert relative depth estimates into metric heights. Experiments demonstrate consistent improvements over interpolation based methods, prior-based rescaling height approaches, and state-of-the-art monocular depth estimation models. Prior2DSM reduces reconstruction error while preserving structural fidelity, achieving up to a 46% reduction in RMSE compared to linear fitting of MDE, and further enables DSM updating and coupled RGB-DSM generation.

Osher Rafaeli, Tal Svoray, Ariel Nahlieli

Department of Environmental, Geoinformatics and Urban Planning Sciences, Ben-Gurion University of the Negev, Israel · Department of Psychology, Ben-Gurion University of the Negev, Israel

3D Reconstruction Remote Sensing Vision Foundation Model Adaptation Test-Time Adaptation

Apr 2, 2026

ProDiG: Progressive Diffusion-Guided Gaussian Splatting for Aerial to Ground Reconstruction

Generating ground-level views and coherent 3D site models from aerial-only imagery is challenging due to extreme viewpoint changes, missing intermediate observations, and large scale variations. Existing methods either refine renderings post-hoc, often producing geometrically inconsistent results, or rely on multi-altitude ground-truth, which is rarely available. Gaussian Splatting and diffusion-based refinements improve fidelity under small variations but fail under wide aerial-toground gaps. To address these limitations, we introduce ProDiG (Progressive Diffusion-Guided Gaussian Splatting for Aerial to Ground Reconstruction), a diffusionguided framework that progressively transforms aerial 3D representations toward ground-level fidelity. ProDiG synthesizes intermediate-altitude views and refines the Gaussian representation at each stage using a geometry-aware causal attention module that injects epipolar structure into reference-view diffusion. A distance-adaptive Gaussian module dynamically adjusts Gaussian scale and opacity based on camera distance, ensuring stable reconstruction across large viewpoint gaps. Together, these components enable progressive, geometrically grounded refinement without requiring additional ground-truth viewpoints. Extensive experiments on synthetic and real-world datasets demonstrate that ProDiG produces visually realistic ground-level renderings and coherent 3D geometry, significantly outperforming existing approaches in terms of visual quality, geometric consistency, and robustness to extreme viewpoint changes. Project Page: https://sirsh07.github.io/research/prodig

Sirshapan Mitra, Yogesh S. Rawat

CRCV, University of Central Florida

3D Reconstruction Novel View Synthesis Aerial 3D Reconstruction 3D Gaussian Splatting

Apr 2, 2026

F3DGS: Federated 3D Gaussian Splatting for Decentralized Multi-Agent World Modeling

We present F3DGS, a federated 3D Gaussian Splatting framework for decentralized multi-agent 3D reconstruction. Existing 3DGS pipelines assume centralized access to all observations, which limits their applicability in distributed robotic settings where agents operate independently, and centralized data aggregation may be restricted. Directly extending centralized training to multi-agent systems introduces communication overhead and geometric inconsistency. F3DGS first constructs a shared geometric scaffold by registering locally merged LiDAR point clouds from multiple clients to initialize a global 3DGS model. During federated optimization, Gaussian positions are fixed to preserve geometric alignment, while each client updates only appearance-related attributes, including covariance, opacity, and spherical harmonic coefficients. The server aggregates these updates using visibility-aware aggregation, weighting each client's contribution by how frequently it observed each Gaussian, resolving the partial-observability challenge inherent to multi-agent exploration. To evaluate decentralized reconstruction, we collect a multi-sequence indoor dataset with synchronized LiDAR, RGB, and IMU measurements. Experiments show that F3DGS achieves reconstruction quality comparable to centralized training while enabling distributed optimization across agents. The dataset, development kit, and source code will be publicly released.

Morui Zhu, Mohammad Dehghani Tezerjani, Mátyás Szántó +3

University of North Texas · Budapest University of Technology and Economics

3D Reconstruction 3D Gaussian Splatting Federated Learning

Apr 1, 2026

Better Rigs, Not Bigger Networks: A Body Model Ablation for Gaussian Avatars

Recent 3D Gaussian splatting methods built atop SMPL achieve remarkable visual fidelity while continually increasing the complexity of the overall training architecture. We demonstrate that much of this complexity is unnecessary: by replacing SMPL with the Momentum Human Rig (MHR), estimated via SAM-3D-Body, a minimal pipeline with no learned deformations or pose-dependent corrections achieves the highest reported PSNR and competitive or superior LPIPS and SSIM on PeopleSnapshot and ZJU-MoCap. To disentangle pose estimation quality from body model representational capacity, we perform two controlled ablations: translating SAM-3D-Body meshes to SMPL-X, and translating the original dataset's SMPL poses into MHR both retrained under identical conditions. These ablations confirm that body model expressiveness has been a primary bottleneck in avatar reconstruction, with both mesh representational capacity and pose estimation quality contributing meaningfully to the full pipeline's gains.

Derek Austin

3D Avatar Generation 3D Human Reconstruction 3D Reconstruction

Apr 1, 2026

Neural Harmonic Textures for High-Quality Primitive Based Neural Reconstruction

Primitive-based methods such as 3D Gaussian Splatting have recently become the state-of-the-art for novel-view synthesis and related reconstruction tasks. Compared to neural fields, these representations are more flexible, adaptive, and scale better to large scenes. However, the limited expressivity of individual primitives makes modeling high-frequency detail challenging. We introduce Neural Harmonic Textures, a neural representation approach that anchors latent feature vectors on a virtual scaffold surrounding each primitive. These features are interpolated within the primitive at ray intersection points. Inspired by Fourier analysis, we apply periodic activations to the interpolated features, turning alpha blending into a weighted sum of harmonic components. The resulting signal is then decoded in a single deferred pass using a small neural network, significantly reducing computational cost. Neural Harmonic Textures yield state-of-the-art results in real-time novel view synthesis while bridging the gap between primitive- and neural-field-based reconstruction. Our method integrates seamlessly into existing primitive-based pipelines such as 3DGUT, Triangle Splatting, and 2DGS. We further demonstrate its generality with applications to 2D image fitting and semantic reconstruction.

Jorge Condor, Nicolas Moenne-Loccoz, Merlin Nimier-David +3

NVIDIA · Università della Svizzera italiana, Lugano, Switzerland

3D Gaussian Splatting 3D Reconstruction Neural Rendering Novel View Synthesis

Apr 1, 2026

MoonAnything: A Vision Benchmark with Large-Scale Lunar Supervised Data

Accurate perception of lunar surfaces is critical for modern lunar exploration missions. However, developing robust learning-based perception systems is hindered by the lack of datasets that provide both geometric and photometric supervision. Existing lunar datasets typically lack either geometric ground truth, photometric realism, illumination diversity, or large-scale coverage. In this paper, we introduce MoonAnything, a unified benchmark built on real lunar topography with physically-based rendering, providing the first comprehensive geometric and photometric supervision under diverse illumination with large scale. The benchmark comprises two complementary sub-datasets : i) LunarGeo provides stereo images with corresponding dense depth maps and camera calibration enabling 3D reconstruction and pose estimation; ii) LunarPhoto provides photorealistic images using a spatially-varying BRDF model, along with multi-illumination renderings under real solar configurations, enabling reflectance estimation and illumination-robust perception. Together, these datasets offer over 130K samples with comprehensive supervision. Beyond lunar applications, MoonAnything offers a unique setting and challenging testbed for algorithms under low-textured, high-contrast conditions and applies to other airless celestial bodies and could generalize beyond. We establish baselines using state-of-the-art methods and release the complete dataset along with generation tools to support community extension: https://github.com/clementinegrethen/MoonAnything.

Clémentine Grethen, Yuang Shi, Simone Gasparini +1

IRIT - Université de Toulouse, France · National University of Singapore, Singapore · IPAL, IRL2955, Singapore

Remote Sensing Benchmarks 3D Reconstruction

Apr 1, 2026

Contrastive Multi-Modal Hypergraph Reasoning for 3D Crowd Mesh Recovery

Multi-person 3D reconstruction is pivotal for real-world interaction analysis, yet remains challenging due to severe occlusions and depth ambiguity. Current approaches typically rely on single-modality inputs, which inherently lack geometric guidance. Furthermore, these methods often reconstruct subjects in isolation, neglecting the collective group context essential for resolving ambiguities in crowded scenes. To address these limitations, we propose Contrastive Multi-modal Hypergraph Reasoning to synergize semantic, geometric, and pose cues for crowd reconstruction. We first initialize robust node representations by combining RGB features, geometric priors, and occlusion-aware incomplete poses. Additionally, we introduce a pelvis depth indicator as a global spatial anchor, aligning visual features with a metric-scale-agnostic depth ordering. Subsequently, we construct a shared-topology hypergraph that moves beyond pairwise constraints to model higher-order crowd dynamics. To improve feature fusion, we design a hypergraph-based contrastive learning scheme that jointly enhances intra-modal discriminability and enforces cross-modal orthogonality. This mechanism enables the network to propagate global context effectively, allowing it to infer missing information even under severe occlusion. Extensive experiments on the Panoptic and GigaCrowd benchmarks confirm that our method achieves new state-of-the-art performance. Code and pre-trained models are available at https://github.com/SunMH-try/CoMHR.

Minghao Sun, Chongyang Xu, Yitao Xie +2

Tianjin University · Nanyang Technological University · Sichuan University

3D Reconstruction 3D Human Reconstruction Hypergraph Neural Networks Multimodal Learning

Apr 1, 2026

DirectFisheye-GS: Enabling Native Fisheye Input in Gaussian Splatting with Cross-View Joint Optimization

3D Gaussian Splatting (3DGS) has enabled efficient 3D scene reconstruction from everyday images with real-time, high-fidelity rendering, greatly advancing VR/AR applications. Fisheye cameras, with their wider field of view (FOV), promise high-quality reconstructions from fewer inputs and have recently attracted much attention. However, since 3DGS relies on rasterization, most subsequent works involving fisheye camera inputs first undistort images before training, which introduces two problems: 1) Black borders at image edges cause information loss and negate the fisheye's large FOV advantage; 2) Undistortion's stretch-and-interpolate resampling spreads each pixel's value over a larger area, diluting detail density -- causes 3DGS overfitting these low-frequency zones, producing blur and floating artifacts. In this work, we integrate fisheye camera model into the original 3DGS framework, enabling native fisheye image input for training without preprocessing. Despite correct modeling, we observed that the reconstructed scenes still exhibit floaters at image edges: Distortion increases toward the periphery, and 3DGS's original per-iteration random-selecting-view optimization ignores the cross-view correlations of a Gaussian, leading to extreme shapes (e.g., oversized or elongated) that degrade reconstruction quality. To address this, we introduce a feature-overlap-driven cross-view joint optimization strategy that establishes consistent geometric and photometric constraints across views-a technique equally applicable to existing pinhole-camera-based pipelines. Our DirectFisheye-GS matches or surpasses state-of-the-art performance on public datasets. Project Page: https://yzxqh.github.io/DirectFisheye-GS/ .

Zhengxian Yang, Fei Xie, Xutao Xue +5

BNRist, Tsinghua University · Shanghai AI Lab · Beihang University +1

3D Gaussian Splatting 3D Reconstruction Multi-View 3D Reconstruction

Apr 1, 2026

Reliev3R: Relieving Feed-forward Reconstruction from Multi-View Geometric Annotations

With recent advances, Feed-forward Reconstruction Models (FFRMs) have demonstrated great potential in reconstruction quality and adaptiveness to multiple downstream tasks. However, the excessive reliance on multi-view geometric annotations, e.g. 3D point maps and camera poses, makes the fully-supervised training scheme of FFRMs difficult to scale up. In this paper, we propose Reliev3R, a weakly-supervised paradigm for training FFRMs from scratch without cost-prohibitive multi-view geometric annotations. Relieving the reliance on geometric sensory data and compute-exhaustive structure-from-motion preprocessing, our method draws 3D knowledge directly from monocular relative depths and image sparse correspondences given by zero-shot predictions of pretrained models. At the core of Reliev3R, we design an ambiguity-aware relative depth loss and a trigonometry-based reprojection loss to facilitate supervision for multi-view geometric consistency. Training from scratch with the less data, Reliev3R catches up with its fully-supervised sibling models, taking a step towards low-cost 3D reconstruction supervisions and scalable FFRMs.

Youyu Chen, Junjun Jiang, Yueru Luo +4

Harbin Institute of Technology · The Chinese University of Hong Kong, Shenzhen · Huawei

3D Reconstruction Feed-Forward 3D Reconstruction Multi-View 3D Reconstruction Multi-View Geometry

Mar 31, 2026

3D Architect: An Automated Approach to Three-Dimensional Modeling

The aim of our paper is to render an object in 3-dimension using a set of its orthographic views. Corner detector (Harris Detector) is applied on the input views to obtain control points. These control points are projected perpendicular to respective views, in order to construct an envelope. A set of points describing the object in 3-dimension, are obtained from the intersection of these mutually perpendicular envelopes. These set of points are used to regenerate the surfaces of the object using computational geometry. At the end, the object in 3-dimension is rendered using OpenGL

Sunil Tiwari, Payal Fofadiya, Vicky Vishwakarma

Information Technology, V.E.S. Institute of Technology, Chembur, Mumbai, India

3D Reconstruction Multi-View 3D Reconstruction 3D Mesh Reconstruction

Mar 30, 2026

Fisheye3R: Adapting Unified 3D Feed-Forward Foundation Models to Fisheye Lenses

Feed-forward foundation models for multi-view 3-dimensional (3D) reconstruction have been trained on large-scale datasets of perspective images; when tested on wide field-of-view images, e.g., from a fisheye camera, their performance degrades. This degradation arises from changes in spatial arrangements of pixels induced by the non-linear projection model that maps 3D points onto the 2D image plane. While one may surmise that training on fisheye images would resolve this problem, there are far fewer fisheye images with ground truth than perspective images, which limits generalization. To enable inference on imagery exhibiting high radial distortion, we propose Fisheye3R, a novel adaptation framework that extends these multi-view 3D reconstruction foundation models to natively accommodate fisheye inputs without performance regression on perspective images. To address the scarcity of fisheye images and ground truth, we introduce flexible learning schemes that support self-supervised adaptation using only unlabeled perspective images and supervised adaptation without any fisheye training data. Extensive experiments across three foundation models, including VGGT,

π^3

, and MapAnything, demonstrate that our approach consistently improves camera pose, depth, point map, and field-of-view estimation on fisheye images. Code is available at https://github.com/android-xr/fisheye3r.

Ruxiao Duan, Erin Hong, Dongxu Zhao +3

Yale University · Google

3D Foundation Models Domain Adaptation 3D Reconstruction Multi-View 3D Reconstruction Camera Pose Estimation Vision Foundation Model Adaptation

Mar 30, 2026

TerraSky3D: Multi-View Reconstructions of European Landmarks in 4K

Despite the growing need for data of more and more sophisticated 3D reconstruction pipelines, we can still observe a scarcity of suitable public datasets. Existing 3D datasets are either low resolution, limited to a small amount of scenes, based on images of varying quality because retrieved from the internet, or limited to specific capturing scenarios. Motivated by this lack of suitable 3D datasets, we captured TerraSky3D, a high-resolution large-scale 3D reconstruction dataset comprising 50,000 images divided into 150 ground, aerial, and mixed scenes. The dataset focuses on European landmarks and comes with curated calibration data, camera poses, and depth maps. TerraSky3D tries to answer the need for challenging dataset that can be used to train and evaluate 3D reconstruction-related pipelines.

Mattia D'Urso, Yuxi Hu, Christian Sormann +2

Graz University of Technology · Sony

3D Reconstruction Multi-View 3D Reconstruction Large-Scale 3D Reconstruction