A depth-plus-ICP initialization and voxel-based densification let 3D Gaussian Splatting work without SfM, improving pose and rendering on large outdoor scenes.
We propose an SFM-free 3D Gaussian method for large-scale unbounded scenes
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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.