A depth-plus-ICP initialization and voxel-based densification let 3D Gaussian Splatting work without SfM, improving pose and rendering on large outdoor scenes.
Preliminary Problem formulation.Given a sequence ofNunposed RGB images frames, we denote it as{Ii}N i=1, whereI i ∈R H×W×3 and K is the camera intrinsics
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ICP-3DGS: SfM-free 3D Gaussian Splatting for Large-scale Unbounded Scenes
A depth-plus-ICP initialization and voxel-based densification let 3D Gaussian Splatting work without SfM, improving pose and rendering on large outdoor scenes.