Neural rendering methods such as Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS) have achieved significant progress in photorealistic 3D scene reconstruction and novel view synthesis. However, most existing models assume clean and high-resolution (HR) multi-view inputs, which limits their robustness under real-world degradations such as noise, blur, low-resolution (LR), and weather-induced artifacts. To address these limitations, the emerging field of 3D Low-Level Vision (3D LLV) extends classical 2D Low-Level Vision tasks including super-resolution (SR), deblurring, weather degradation removal, restoration, and enhancement into the 3D spatial domain. This survey, referred to as R\textsuperscript{3}eVision, provides a comprehensive overview of robust rendering, restoration, and enhancement for 3D LLV by formalizing the degradation-aware rendering problem and identifying key challenges related to spatio-temporal consistency and ill-posed optimization. Recent methods that integrate LLV into neural rendering frameworks are categorized to illustrate how they enable high-fidelity 3D reconstruction under adverse conditions. Application domains such as autonomous driving, AR/VR, and robotics are also discussed, where reliable 3D perception from degraded inputs is critical. By reviewing representative methods, datasets, and evaluation protocols, this work positions 3D LLV as a fundamental direction for robust 3D content generation and scene-level reconstruction in real-world environments.
3D Gaussian Splatting (3DGS) has emerged as a promising approach for novel view synthesis, offering real-time rendering with high visual fidelity. However, its substantial storage requirements present significant challenges for practical applications. While recent state-of-the-art (SOTA) 3DGS methods increasingly incorporate dedicated compression modules, there is a lack of a comprehensive framework to evaluate their perceptual impact. Therefore we present 3DGS-IEval-15K, the first large-scale image quality assessment (IQA) dataset specifically designed for compressed 3DGS representations. Our dataset encompasses 15,200 images rendered from 10 real-world scenes through 6 representative 3DGS algorithms at 20 strategically selected viewpoints, with different compression levels leading to various distortion effects. Through controlled subjective experiments, we collect human perception data from 60 viewers. We validate dataset quality through scene diversity and MOS distribution analysis, and establish a comprehensive benchmark with 30 representative IQA metrics covering diverse types. As the largest-scale 3DGS quality assessment dataset to date, our work provides a foundation for developing 3DGS specialized IQA metrics, and offers essential data for investigating view-dependent quality distribution patterns unique to 3DGS. The database is publicly available at https://github.com/YukeXing/3DGS-IEval-15K.
2D Gaussian Splatting (2DGS) has recently emerged as a promising method for novel view synthesis and surface reconstruction, offering better view-consistency and geometric accuracy than volumetric 3DGS. However, 2DGS suffers from severe aliasing artifacts when rendering at different sampling rates than those used during training, limiting its practical applications in scenarios requiring camera zoom or varying fields of view. We identify that these artifacts stem from two key limitations: the lack of frequency constraints in the representation and an ineffective screen-space clamping approach. To address these issues, we present AA-2DGS, an antialiased formulation of 2D Gaussian Splatting that maintains its geometric benefits while significantly enhancing rendering quality across different scales. Our method introduces a world space flat smoothing kernel that constrains the frequency content of 2D Gaussian primitives based on the maximal sampling frequency from training views, effectively eliminating high-frequency artifacts when zooming in. Additionally, we derive a novel object space Mip filter by leveraging an affine approximation of the ray-splat intersection mapping, which allows us to efficiently apply proper anti-aliasing directly in the local space of each splat.
Recent extensions of 3D Gaussian Splatting (3DGS) to dynamic scenes achieve high-quality novel view synthesis by using neural networks to predict the time-varying deformation of each Gaussian. However, performing per-Gaussian neural inference at every frame poses a significant bottleneck, limiting rendering speed and increasing memory and compute requirements. In this paper, we present Speedy Deformable 3D Gaussian Splatting (SpeeDe3DGS), a general pipeline for accelerating the rendering speed of dynamic 3DGS and 4DGS representations by reducing neural inference through two complementary techniques. First, we propose a temporal sensitivity pruning score that identifies and removes Gaussians with low contribution to the dynamic scene reconstruction. We also introduce an annealing smooth pruning mechanism that improves pruning robustness in real-world scenes with imprecise camera poses. Second, we propose GroupFlow, a motion analysis technique that clusters Gaussians by trajectory similarity and predicts a single rigid transformation per group instead of separate deformations for each Gaussian. Together, our techniques accelerate rendering by $10.37\times$, reduce model size by $7.71\times$, and shorten training time by $2.71\times$ on the NeRF-DS dataset. SpeeDe3DGS also improves rendering speed by $4.20\times$ and $58.23\times$ on the D-NeRF and HyperNeRF vrig datasets. Our methods are modular and can be integrated into any deformable 3DGS or 4DGS framework.
Reconstructing 3D assets from images, known as inverse rendering (IR), remains a challenging task due to its ill-posed nature. 3D Gaussian Splatting (3DGS) has demonstrated impressive capabilities for novel view synthesis (NVS) tasks. Methods apply it to relighting by separating radiance into BRDF parameters and lighting, yet produce inferior relighting quality with artifacts and unnatural indirect illumination due to the limited capability of each Gaussian, which has constant material parameters and normal, alongside the absence of physical constraints for indirect lighting. In this paper, we present a novel framework called Spatially-vayring Gaussian Inverse Rendering (SVG-IR), aimed at enhancing both NVS and relighting quality. To this end, we propose a new representation-Spatially-varying Gaussian (SVG)-that allows per-Gaussian spatially varying parameters. This enhanced representation is complemented by a SVG splatting scheme akin to vertex/fragment shading in traditional graphics pipelines. Furthermore, we integrate a physically-based indirect lighting model, enabling more realistic relighting. The proposed SVG-IR framework significantly improves rendering quality, outperforming state-of-the-art NeRF-based methods by 2.5 dB in peak signal-to-noise ratio (PSNR) and surpassing existing Gaussian-based techniques by 3.5 dB in relighting tasks, all while maintaining a real-time rendering speed.
Real-time reconstruction of dynamic 3D scenes from uncalibrated video streams is crucial for numerous real-world applications. However, existing methods struggle to jointly address three key challenges: 1) processing uncalibrated inputs in real time, 2) accurately modeling dynamic scene evolution, and 3) maintaining long-term stability and computational efficiency. To this end, we introduce StreamSplat, the first fully feed-forward framework that transforms uncalibrated video streams of arbitrary length into dynamic 3D Gaussian Splatting (3DGS) representations in an online manner, capable of recovering scene dynamics from temporally local observations. We propose two key technical innovations: a probabilistic sampling mechanism in the static encoder for 3DGS position prediction, and a bidirectional deformation field in the dynamic decoder that enables robust and efficient dynamic modeling. Extensive experiments on static and dynamic benchmarks demonstrate that StreamSplat consistently outperforms prior works in both reconstruction quality and dynamic scene modeling, while uniquely supporting online reconstruction of arbitrarily long video streams. Code and models are available at https://github.com/nickwzk/StreamSplat.
Reconstructing articulated objects prevalent in daily environments is crucial for applications in augmented/virtual reality and robotics. However, existing methods face scalability limitations (requiring 3D supervision or costly annotations), robustness issues (being susceptible to local optima), and rendering shortcomings (lacking speed or photorealism). We introduce SplArt, a self-supervised, category-agnostic framework that leverages 3D Gaussian Splatting (3DGS) to reconstruct articulated objects and infer kinematics from two sets of posed RGB images captured at different articulation states, enabling real-time photorealistic rendering for novel viewpoints and articulations. SplArt augments 3DGS with a differentiable mobility parameter per Gaussian, achieving refined part segmentation. A multi-stage optimization strategy is employed to progressively handle reconstruction, part segmentation, and articulation estimation, significantly enhancing robustness and accuracy. SplArt exploits geometric self-supervision, effectively addressing challenging scenarios without requiring 3D annotations or category-specific priors. Evaluations on established and newly proposed benchmarks, along with applications to real-world scenarios using a handheld RGB camera, demonstrate SplArt's state-of-the-art performance and real-world practicality. Code is publicly available at https://github.com/ripl/splart.
With 3D Gaussian Splatting (3DGS) being increasingly used in safety-critical applications, how can an adversary manipulate the scene to cause harm? We introduce CLOAK, the first attack that leverages view-dependent Gaussian appearances - colors and textures that change with viewing angle - to embed adversarial content visible only from specific viewpoints. We further demonstrate DAGGER, a targeted adversarial attack directly perturbing 3D Gaussians without access to underlying training data, deceiving multi-stage object detectors e.g., Faster R-CNN, through established methods such as projected gradient descent. These attacks highlight underexplored vulnerabilities in 3DGS, introducing a new potential threat to robotic learning for autonomous navigation and other safety-critical 3DGS applications.
3D Gaussian Splatting (3DGS) is an emerging media representation that reconstructs real-world 3D scenes in high fidelity, enabling 6-degrees-of-freedom (6-DoF) navigation in virtual reality (VR). However, developing and evaluating 3DGS-enabled applications and optimizing their rendering performance, require realistic user navigation data. Such data is currently unavailable for photorealistic 3DGS reconstructions of real-world scenes. This paper introduces EyeNavGS (EyeNavGS), the first publicly available 6-DoF navigation dataset featuring traces from 46 participants exploring twelve diverse, real-world 3DGS scenes. The dataset was collected at two sites, using the Meta Quest Pro headsets, recording the head pose and eye gaze data for each rendered frame during free world standing 6-DoF navigation. For each of the twelve scenes, we performed careful scene initialization to correct for scene tilt and scale, ensuring a perceptually-comfortable VR experience. We also release our open-source SIBR viewer software fork with record-and-replay functionalities and a suite of utility tools for data processing, conversion, and visualization. The EyeNavGS dataset and its accompanying software tools provide valuable resources for advancing research in 6-DoF viewport prediction, adaptive streaming, 3D saliency, and foveated rendering for 3DGS scenes. The EyeNavGS dataset is available at: https://symmru.github.io/EyeNavGS/.
This work presents a novel text-to-vector graphics generation approach, Dream3DVG, allowing for arbitrary viewpoint viewing, progressive detail optimization, and view-dependent occlusion awareness. Our approach is a dual-branch optimization framework, consisting of an auxiliary 3D Gaussian Splatting optimization branch and a 3D vector graphics optimization branch. The introduced 3DGS branch can bridge the domain gaps between text prompts and vector graphics with more consistent guidance. Moreover, 3DGS allows for progressive detail control by scheduling classifier-free guidance, facilitating guiding vector graphics with coarse shapes at the initial stages and finer details at later stages. We also improve the view-dependent occlusions by devising a visibility-awareness rendering module. Extensive results on 3D sketches and 3D iconographies, demonstrate the superiority of the method on different abstraction levels of details, cross-view consistency, and occlusion-aware stroke culling.
3D Gaussian Splatting (3DGS) renders pixels by rasterizing Gaussian primitives, where conditional alpha-blending dominates the time cost in the rendering pipeline. This paper proposes TC-GS, an algorithm-independent universal module that expands Tensor Core (TCU) applicability for 3DGS, leading to substantial speedups and seamless integration into existing 3DGS optimization frameworks. The key innovation lies in mapping alpha computation to matrix multiplication, fully utilizing otherwise idle TCUs in existing 3DGS implementations. TC-GS provides plug-and-play acceleration for existing top-tier acceleration algorithms tightly coupled with rendering pipeline designs, like Gaussian compression and redundancy elimination algorithms. Additionally, we introduce a global-to-local coordinate transformation to mitigate rounding errors from quadratic terms of pixel coordinates caused by Tensor Core half-precision computation. Extensive experiments demonstrate that our method maintains rendering quality while providing an additional 2.18x speedup over existing Gaussian acceleration algorithms, thus reaching up to a total 5.6x acceleration. The code is currently available at anonymous \href{https://github.com/TensorCore3DGS/3DGSTensorCore}
3D Gaussian Splatting (3DGS) marks a significant milestone in balancing the quality and efficiency of differentiable rendering. However, its high efficiency stems from an approximation of projecting 3D Gaussians onto the image plane as 2D Gaussians, which inherently limits rendering quality--particularly under large Field-of-View (FoV) camera inputs. While several recent works have extended 3DGS to mitigate these approximation errors, none have successfully achieved both exactness and high efficiency simultaneously. In this work, we introduce 3DGEER, an Exact and Efficient Volumetric Gaussian Rendering method. Starting from first principles, we derive a closed-form expression for the density integral along a ray traversing a 3D Gaussian distribution. This formulation enables precise forward rendering with arbitrary camera models and supports gradient-based optimization of 3D Gaussian parameters. To ensure both exactness and real-time performance, we propose an efficient method for computing a tight Particle Bounding Frustum (PBF) for each 3D Gaussian, enabling accurate and efficient ray-Gaussian association. We also introduce a novel Bipolar Equiangular Projection (BEAP) representation to accelerate ray association under generic camera models. BEAP further provides a more uniform ray sampling strategy to apply supervision, which empirically improves reconstruction quality. Experiments on multiple pinhole and fisheye datasets show that our method consistently outperforms prior methods, establishing a new state-of-the-art in real-time neural rendering.
Feed-forward 3D Gaussian Splatting (3DGS) models have recently emerged as a promising solution for novel view synthesis, enabling one-pass inference without the need for per-scene 3DGS optimization. However, their scalability is fundamentally constrained by the limited capacity of their encoders, leading to degraded performance or excessive memory consumption as the number of input views increases. In this work, we analyze feed-forward 3DGS frameworks through the lens of the Information Bottleneck principle and introduce ZPressor, a lightweight architecture-agnostic module that enables efficient compression of multi-view inputs into a compact latent state $Z$ that retains essential scene information while discarding redundancy. Concretely, ZPressor enables existing feed-forward 3DGS models to scale to over 100 input views at 480P resolution on an 80GB GPU, by partitioning the views into anchor and support sets and using cross attention to compress the information from the support views into anchor views, forming the compressed latent state $Z$. We show that integrating ZPressor into several state-of-the-art feed-forward 3DGS models consistently improves performance under moderate input views and enhances robustness under dense view settings on two large-scale benchmarks DL3DV-10K and RealEstate10K. The video results, code and trained models are available on our project page: https://lhmd.top/zpressor.
This paper presents an innovative frequency-embedded 3D Gaussian splatting (3DGS) algorithm for wideband radio-frequency (RF) radiance field modeling, offering an advancement over the existing works limited to single-frequency modeling. Grounded in fundamental physics, we uncover the complex relationship between EM wave propagation behaviors and RF frequencies. Inspired by this, we design an EM feature network with attenuation and radiance modules to learn the complex relationships between RF frequencies and the key properties of each 3D Gaussian, specifically the attenuation factor and RF signal intensity. By training the frequency-embedded 3DGS model, we can efficiently reconstruct RF radiance fields at arbitrary unknown frequencies within a given 3D environment. Finally, we propose a large-scale power angular spectrum (PAS) dataset containing 50000 samples ranging from 1 to 100 GHz in 6 indoor environments, and conduct extensive experiments to verify the effectiveness of our method. Our approach achieves an average Structural Similarity Index Measure (SSIM) up to 0.72, and a significant improvement up to 17.8% compared to the current state-of-the-art (SOTA) methods trained on individual test frequencies. Additionally, our method achieves an SSIM of 0.70 without prior training on these frequencies, which represents only a 2.8% performance drop compared to models trained with full PAS data. This demonstrates our model's capability to estimate PAS at unknown frequencies. For related code and datasets, please refer to https://github.com/sim-2-real/Wideband3DGS.
In this work, we present WeatherEdit, a novel weather editing pipeline for generating realistic weather effects with controllable types and severity in 3D scenes. Our approach is structured into two key components: weather background editing and weather particle construction. For weather background editing, we introduce an all-in-one adapter that integrates multiple weather styles into a single pretrained diffusion model, enabling the generation of diverse weather effects in 2D image backgrounds. During inference, we design a Temporal-View (TV-) attention mechanism that follows a specific order to aggregate temporal and spatial information, ensuring consistent editing across multi-frame and multi-view images. To construct the weather particles, we first reconstruct a 3D scene using the edited images and then introduce a dynamic 4D Gaussian field to generate snowflakes, raindrops and fog in the scene. The attributes and dynamics of these particles are precisely controlled through physical-based modelling and simulation, ensuring realistic weather representation and flexible severity adjustments. Finally, we integrate the 4D Gaussian field with the 3D scene to render consistent and highly realistic weather effects. Experiments on multiple driving datasets demonstrate that WeatherEdit can generate diverse weather effects with controllable condition severity, highlighting its potential for autonomous driving simulation in adverse weather. See project page: https://jumponthemoon.github.io/w-edit
Recent advancements in radiance field rendering, exemplified by Neural Radiance Fields (NeRF) and 3D Gaussian Splatting (3DGS), have significantly progressed 3D modeling and reconstruction. The use of multiple 360-degree omnidirectional images for these tasks is increasingly favored due to advantages in data acquisition and comprehensive scene capture. However, the inherent geometric distortions in common omnidirectional representations, such as equirectangular projection (particularly severe in polar regions and varying with latitude), pose substantial challenges to achieving high-fidelity 3D reconstructions. Current datasets, while valuable, often lack the specific focus, scene composition, and ground truth granularity required to systematically benchmark and drive progress in overcoming these omnidirectional-specific challenges. To address this critical gap, we introduce Omnidirectional Blender 3D (OB3D), a new synthetic dataset curated for advancing 3D reconstruction from multiple omnidirectional images. OB3D features diverse and complex 3D scenes generated from Blender 3D projects, with a deliberate emphasis on challenging scenarios. The dataset provides comprehensive ground truth, including omnidirectional RGB images, precise omnidirectional camera parameters, and pixel-aligned equirectangular maps for depth and normals, alongside evaluation metrics. By offering a controlled yet challenging environment, OB3Daims to facilitate the rigorous evaluation of existing methods and prompt the development of new techniques to enhance the accuracy and reliability of 3D reconstruction from omnidirectional images.
Neural fields are now the central focus of research in 3D vision and computer graphics. Existing methods mainly focus on various scene representations, such as neural points and 3D Gaussians. However, few works have studied the rendering process to enhance the neural fields. In this work, we propose a plug-in method named K-Buffers that leverages multiple buffers to improve the rendering performance. Our method first renders K buffers from scene representations and constructs K pixel-wise feature maps. Then, We introduce a K-Feature Fusion Network (KFN) to merge the K pixel-wise feature maps. Finally, we adopt a feature decoder to generate the rendering image. We also introduce an acceleration strategy to improve rendering speed and quality. We apply our method to well-known radiance field baselines, including neural point fields and 3D Gaussian Splatting (3DGS). Extensive experiments demonstrate that our method effectively enhances the rendering performance of neural point fields and 3DGS.
3D Gaussian Splatting has recently shown promising results in dense visual SLAM. However, existing 3DGS-based SLAM methods are all constrained to small-room scenarios and struggle with memory explosion in large-scale scenes and long sequences. To this end, we propose VPGS-SLAM, the first 3DGS-based large-scale RGBD SLAM framework for both indoor and outdoor scenarios. We design a novel voxel-based progressive 3D Gaussian mapping method with multiple submaps for compact and accurate scene representation in large-scale and long-sequence scenes. This allows us to scale up to arbitrary scenes and improves robustness (even under pose drifts). In addition, we propose a 2D-3D fusion camera tracking method to achieve robust and accurate camera tracking in both indoor and outdoor large-scale scenes. Furthermore, we design a 2D-3D Gaussian loop closure method to eliminate pose drift. We further propose a submap fusion method with online distillation to achieve global consistency in large-scale scenes when detecting a loop. Experiments on various indoor and outdoor datasets demonstrate the superiority and generalizability of the proposed framework. The code will be open source on https://github.com/dtc111111/vpgs-slam.
3D Gaussian Splatting (3DGS) has gained significant attention in streamable dynamic novel view synthesis (DNVS) for its photorealistic rendering capability and computational efficiency. Despite much progress in improving rendering quality and optimization strategies, 3DGS-based streamable dynamic scene reconstruction still suffers from flickering artifacts and storage inefficiency, and struggles to model the emerging objects. To tackle this, we introduce MGStream which employs the motion-related 3D Gaussians (3DGs) to reconstruct the dynamic and the vanilla 3DGs for the static. The motion-related 3DGs are implemented according to the motion mask and the clustering-based convex hull algorithm. The rigid deformation is applied to the motion-related 3DGs for modeling the dynamic, and the attention-based optimization on the motion-related 3DGs enables the reconstruction of the emerging objects. As the deformation and optimization are only conducted on the motion-related 3DGs, MGStream avoids flickering artifacts and improves the storage efficiency. Extensive experiments on real-world datasets N3DV and MeetRoom demonstrate that MGStream surpasses existing streaming 3DGS-based approaches in terms of rendering quality, training/storage efficiency and temporal consistency. Our code is available at: https://github.com/pcl3dv/MGStream.
Efficient scene representations are essential for many real-world applications, especially those involving spatial measurement. Although current NeRF-based methods have achieved impressive results in reconstructing building-scale scenes, they still suffer from slow training and inference speeds due to time-consuming stochastic sampling. Recently, 3D Gaussian Splatting (3DGS) has demonstrated excellent performance with its high-quality rendering and real-time speed, especially for objects and small-scale scenes. However, in outdoor scenes, its point-based explicit representation lacks an effective adjustment mechanism, and the millions of Gaussian points required often lead to memory constraints during training. To address these challenges, we propose EA-3DGS, a high-quality real-time rendering method designed for outdoor scenes. First, we introduce a mesh structure to regulate the initialization of Gaussian components by leveraging an adaptive tetrahedral mesh that partitions the grid and initializes Gaussian components on each face, effectively capturing geometric structures in low-texture regions. Second, we propose an efficient Gaussian pruning strategy that evaluates each 3D Gaussian's contribution to the view and prunes accordingly. To retain geometry-critical Gaussian points, we also present a structure-aware densification strategy that densifies Gaussian points in low-curvature regions. Additionally, we employ vector quantization for parameter quantization of Gaussian components, significantly reducing disk space requirements with only a minimal impact on rendering quality. Extensive experiments on 13 scenes, including eight from four public datasets (MatrixCity-Aerial, Mill-19, Tanks \& Temples, WHU) and five self-collected scenes acquired through UAV photogrammetry measurement from SCUT-CA and plateau regions, further demonstrate the superiority of our method.