An official website of the United States government
3D Gaussian Splatting (3DGS) techniques have recently enabled high-quality 3D scene reconstruction and real-time novel view synthesis. These approaches, however, are limited by the pinhole camera model and lack effective modeling of defocus effects. Departing from this, we introduce DOF-GS — a new 3DGS-based framework with a finite-aperture camera model and explicit, differentiable defocus rendering, enabling it to function as a post-capture control tool. By training with multi-view images with moderate defocus blur, DOF-GS learns inherent camera characteristics and reconstructs sharp details of the underlying scene, particularly, enabling rendering of varying DOF effects through on-demand aperture and focal distance control, post-capture and optimization. Additionally, our framework extracts circle-of-confusion cues during optimization to identify in-focus regions in input views, enhancing the reconstructed 3D scene details. Experimental results demonstrate that DOF-GS supports post-capture refocusing, adjustable defocus and high-quality all-in-focus rendering, from multi-view images with uncalibrated defocus blur.
more »
« less
This content will become publicly available on December 2, 2026
Novel View Synthesis from A Few Glimpses via Test-Time Natural Video Completion
Given just a few glimpses of a scene, can you imagine the movie playing out as the camera glides through it? That's the lens we take on \emph{sparse-input novel view synthesis}, not only as filling spatial gaps between widely spaced views, but also as \emph{completing a natural video} unfolding through space. We recast the task as \emph{test-time natural video completion}, using powerful priors from \emph{pretrained video diffusion models} to hallucinate plausible in-between views. Our \emph{zero-shot, generation-guided} framework produces pseudo views at novel camera poses, modulated by an \emph{uncertainty-aware mechanism} for spatial coherence. These synthesized frames densify supervision for \emph{3D Gaussian Splatting} (3D-GS) for scene reconstruction, especially in under-observed regions. An iterative feedback loop lets 3D geometry and 2D view synthesis inform each other, improving both the scene reconstruction and the generated views. The result is coherent, high-fidelity renderings from sparse inputs \emph{without any scene-specific training or fine-tuning}. On LLFF, DTU, DL3DV, and MipNeRF-360, our method significantly outperforms strong 3D-GS baselines under extreme sparsity. Our project page is at \url{https://decayale.github.io/project/SV2CGS}.
more »
« less
- PAR ID:
- 10677868
- Publisher / Repository:
- Neural Information Processing Systems
- Date Published:
- Subject(s) / Keyword(s):
- novel view synthesis, test-time optimization
- Format(s):
- Medium: X
- Sponsoring Org:
- National Science Foundation
More Like this
-
-
Differentiable 3D-Gaussian splatting (GS) is emerging as a prominent technique in computer vision and graphics for reconstructing 3D scenes. GS represents a scene as a set of 3D Gaussians with varying opacities and employs a computationally efficient splatting operation along with analytical derivatives to compute the 3D Gaussian parameters given scene images captured from various viewpoints. Unfortunately, capturing surround view (360° viewpoint) images is impossible or impractical in many real-world imaging scenarios, including underwater imaging, rooms inside a building, and autonomous navigation. In these restricted baseline imaging scenarios, the GS algorithm suffers from a well-known ‘missing cone’ problem, which results in poor reconstruction along the depth axis. In this paper, we demonstrate that using transient data (from sonars) allows us to address the missing cone problem by sampling high-frequency data along the depth axis. We extend the Gaussian splatting algorithms for two commonly used sonars and propose fusion algorithms that simultaneously utilize RGB camera data and sonar data. Through simulations, emulations, and hardware experiments across various imaging scenarios, we show that the proposed fusion algorithms lead to significantly better novel view synthesis (5 dB improvement in PSNR) and 3D geometry reconstruction (60% lower Chamfer distance).more » « less
-
We propose a framework for active next best view and touch selection for robotic manipulators using 3D Gaussian Splatting (3DGS). 3DGS is emerging as a useful explicit 3D scene representation for robotics, as it has the ability to represent scenes in a both photorealistic and geometrically accurate manner. However, in real-world, online robotic scenes where the number of views is limited given efficiency requirements, random view selection for 3DGS becomes impractical as views are often overlapping and redundant. We address this issue by proposing an end-to-end online training and active view selection pipeline, which enhances the performance of 3DGS in few-view robotics settings. We first elevate the performance of few-shot 3DGS with a novel semantic depth alignment method using Segment Anything Model 2 (SAM2) that we supplement with Pearson depth and surface normal loss to improve color and depth reconstruction of real-world scenes. We then extend FisherRF, a next-best-view selection method for 3DGS, to select views and touch poses based on depth uncertainty. We perform online view selection on a real robot system during live 3DGS training. We motivate our improvements to few-shot GS scenes, and extend depth-based FisherRF to them, where we demonstrate both qualitative and quantitative improvements on challenging robot scenes. For more information, please see our project page at arm.stanford.edu/next-best-sense.more » « less
-
3D Gaussian Splatting (3DGS) enables high-quality novel view synthesis, motivating interest in generating higher resolution renders than those available during training. A natural strategy is to apply super-resolution (SR) to low resolution (LR) input views, but independently enhancing each image introduces multi-view inconsistencies, leading to blurry renders. Prior methods attempt to mitigate these inconsistencies through learned neural components, temporally consistent video priors, or joint optimization on LR and SR views, but all uniformly apply SR across every image. In contrast, our key insight is that close-up LR views may contain high-frequency information for regions also captured in more distant views and that we can use the camera pose relative to scene geometry to inform where to add SR content. Building on this insight, we propose SplatSuRe, a method that selectively applies SR content only in undersampled regions lacking high-frequency supervision, yielding sharper and more consistent results. Across Tanks & Temples, Deep Blending, and Mip-NeRF 360, our approach surpasses baselines in both fidelity and perceptual quality. Notably, our gains are most significant in localized foreground regions where higher detail is desired.more » « less
-
Inferring the 3D structure underlying a set of multi-view images typically requires solving two co-dependent tasks -- accurate 3D reconstruction requires precise camera poses, and predicting camera poses relies on (implicitly or explicitly) modeling the underlying 3D. The classical framework of analysis by synthesis casts this inference as a joint optimization seeking to explain the observed pixels, and recent instantiations learn expressive 3D representations (e.g., Neural Fields) with gradient-descent-based pose refinement of initial pose estimates. However, given a sparse set of observed views, the observations may not provide sufficient direct evidence to obtain complete and accurate 3D. Moreover, large errors in pose estimation may not be easily corrected and can further degrade the inferred 3D. To allow robust 3D reconstruction and pose estimation in this challenging setup, we propose SparseAGS, a method that adapts this analysis-by-synthesis approach by: a) including novel-view-synthesis-based generative priors in conjunction with photometric objectives to improve the quality of the inferred 3D, and b) explicitly reasoning about outliers and using a discrete search with a continuous optimization-based strategy to correct them. We validate our framework across real-world and synthetic datasets in combination with several off-the-shelf pose estimation systems as initialization. We find that it significantly improves the base systems' pose accuracy while yielding high-quality 3D reconstructions that outperform the results from current multi-view reconstruction baselines.more » « less
