mlsanityData to 7 Oct 2026

COLMAP-Free 3D Gaussian Splatting

arXiv 2312.07504 ↗First posted 12 Dec 2023cs.CVcited by 193

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Abstract (arXiv)

While neural rendering has led to impressive advances in scene reconstruction and novel view synthesis, it relies heavily on accurately pre-computed camera poses. To relax this constraint, multiple efforts have been made to train Neural Radiance Fields (NeRFs) without pre-processed camera poses. However, the implicit representations of NeRFs provide extra challenges to optimize the 3D structure and camera poses at the same time. On the other hand, the recently proposed 3D Gaussian Splatting provides new opportunities given its explicit point cloud representations. This paper leverages both the explicit geometric representation and the continuity of the input video stream to perform novel view synthesis without any SfM preprocessing. We process the input frames in a sequential manner and progressively grow the 3D Gaussians set by taking one input frame at a time, without the need to pre-compute the camera poses. Our method significantly improves over previous approaches in view synthesis and camera pose estimation under large motion changes. Our project page is https://oasisyang.github.io/colmap-free-3dgs

Key facts. Cited by 193 papers in the map (data through 7 Oct 2026). Builds on 47 of its 60 references that are in the map. First posted on arXiv 12 Dec 2023.

Builds on

47 of 60 references.

References · 47

  1. 2014Very Deep Convolutional Networks for Large-Scale Image Recognitioncited by 15,267
  2. 2018The Unreasonable Effectiveness of Deep Features as a Perceptual Metriccited by 11,029
  3. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 6,141
  4. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,698
  5. 2020Implicit Neural Representations with Periodic Activation Functionscited by 2,214
  6. 2021Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fieldscited by 2,013
  7. 2021Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fieldscited by 1,957
  8. 2021Vision Transformers for Dense Predictioncited by 1,789
  9. 2021Plenoxels: Radiance Fields without Neural Networkscited by 1,607
  10. 20234D Gaussian Splatting for Real-Time Dynamic Scene Renderingcited by 1,144
  11. 2015ORB-SLAM: a Versatile and Accurate Monocular SLAM Systemcited by 983
  12. 2021Direct Voxel Grid Optimization: Super-fast Convergence for Radiance Fields Reconstructioncited by 961
35 more
  1. 2020Neural Sparse Voxel Fieldscited by 959
  2. 2021PlenOctrees for Real-time Rendering of Neural Radiance Fieldscited by 904
  3. 2020NeRF++: Analyzing and Improving Neural Radiance Fieldscited by 857
  4. 2023Dynamic 3D Gaussians: Tracking by Persistent Dynamic View Synthesiscited by 731
  5. 2021KiloNeRF: Speeding up Neural Radiance Fields with Thousands of Tiny MLPscited by 672
  6. 2023Zip-NeRF: Anti-Aliased Grid-Based Neural Radiance Fieldscited by 667
  7. 2021Common Objects in 3D: Large-Scale Learning and Evaluation of Real-life 3D Category Reconstructioncited by 646
  8. 2023ZoeDepth: Zero-shot Transfer by Combining Relative and Metric Depthcited by 646
  9. 2021BARF: Bundle-Adjusting Neural Radiance Fieldscited by 641
  10. 2021RegNeRF: Regularizing Neural Radiance Fields for View Synthesis from Sparse Inputscited by 614
  11. 2021Ref-NeRF: Structured View-Dependent Appearance for Neural Radiance Fieldscited by 569
  12. 2021FastNeRF: High-Fidelity Neural Rendering at 200FPScited by 510
  13. 2022Point-NeRF: Point-based Neural Radiance Fieldscited by 503
  14. 2020INeRF: Inverting Neural Radiance Fields for Pose Estimationcited by 381
  15. 2023FreeNeRF: Improving Few-shot Neural Rendering with Free Frequency Regularizationcited by 310
  16. 2020Single-View View Synthesis with Multiplane Imagescited by 263
  17. 2019Differentiable Surface Splatting for Point-based Geometry Processingcited by 238
  18. 2022NoPe-NeRF: Optimising Neural Radiance Field with No Pose Priorcited by 235
  19. 2020Free View Synthesiscited by 231
  20. 2021Self-Calibrating Neural Radiance Fieldscited by 204
  21. 2021InfoNeRF: Ray Entropy Minimization for Few-Shot Neural Volume Renderingcited by 180
  22. 2023HyperReel: High-Fidelity 6-DoF Video with Ray-Conditioned Samplingcited by 173
  23. 2020Stable View Synthesiscited by 165
  24. 2022SinNeRF: Training Neural Radiance Fields on Complex Scenes from a Single Imagecited by 165
  25. 2021MINE: Towards Continuous Depth MPI with NeRF for Novel View Synthesiscited by 133
  26. 2023Progressively Optimized Local Radiance Fields for Robust View Synthesiscited by 103
  27. 2022Differentiable Point-Based Radiance Fields for Efficient View Synthesiscited by 86
  28. 2023Neural Point Catacaustics for Novel-View Synthesis of Reflectionscited by 81
  29. 2020Worldsheet: Wrapping the World in a 3D Sheet for View Synthesis from a Single Imagecited by 77
  30. 2023NeO 360: Neural Fields for Sparse View Synthesis of Outdoor Scenescited by 53
  31. 2022SiNeRF: Sinusoidal Neural Radiance Fields for Joint Pose Estimation and Scene Reconstructioncited by 49
  32. 2022RUST: Latent Neural Scene Representations from Unposed Imagerycited by 41
  33. 2023FlowCam: Training Generalizable 3D Radiance Fields without Camera Poses via Pixel-Aligned Scene Flowcited by 38
  34. 2023LU-NeRF: Scene and Pose Estimation by Synchronizing Local Unposed NeRFscited by 33
  35. 2022MonoNeRF: Learning Generalizable NeRFs from Monocular Videos without Camera Posecited by 10

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Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 64; 2025: 94; 2026: 35.

193 papers.

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  1. 2024No Pose, No Problem: Surprisingly Simple 3D Gaussian Splats from Sparse Unposed Imagescited by 241
  2. 2025AnySplat: Feed-forward 3D Gaussian Splatting from Unconstrained Viewscited by 234
  3. 2024MegaSaM: Accurate, Fast, and Robust Structure and Motion from Casual Dynamic Videoscited by 224
  4. 2024A Survey on 3D Gaussian Splattingcited by 221
  5. 2025FLARE: Feed-forward Geometry, Appearance and Camera Estimation from Uncalibrated Sparse Viewscited by 176
  6. 2024Recent Advances in 3D Gaussian Splattingcited by 130
  7. 2024ManiGaussian: Dynamic Gaussian Splatting for Multi-task Robotic Manipulationcited by 106
  8. 2024Stereo4D: Learning How Things Move in 3D from Internet Stereo Videoscited by 89
  9. 20243D Gaussian Splatting: Survey, Technologies, Challenges, and Opportunitiescited by 77
  10. 2025RayZer: A Self-supervised Large View Synthesis Modelcited by 74
  11. 2024InstantSplat: Sparse-view Gaussian Splatting in Secondscited by 67
  12. 2024GS2Mesh: Surface Reconstruction from Gaussian Splatting via Novel Stereo Viewscited by 65
38 more
  1. 2024MotionGS: Exploring Explicit Motion Guidance for Deformable 3D Gaussian Splattingcited by 62
  2. 2024BAD-Gaussians: Bundle Adjusted Deblur Gaussian Splattingcited by 61
  3. 2024FlowMap: High-Quality Camera Poses, Intrinsics, and Depth via Gradient Descentcited by 61
  4. 2024PF3plat: Pose-Free Feed-Forward 3D Gaussian Splattingcited by 60
  5. 2024GIC: Gaussian-Informed Continuum for Physical Property Identification and Simulationcited by 48
  6. 2024GFlow: Recovering 4D World from Monocular Videocited by 46
  7. 2024EG4D: Explicit Generation of 4D Object without Score Distillationcited by 45
  8. 2024SplineGS: Robust Motion-Adaptive Spline for Real-Time Dynamic 3D Gaussians from Monocular Videocited by 44
  9. 2024GraspSplats: Efficient Manipulation with 3D Feature Splattingcited by 41
  10. 2024Gaussian Splatting: 3D Reconstruction and Novel View Synthesis, a Reviewcited by 40
  11. 2024SelfSplat: Pose-Free and 3D Prior-Free Generalizable 3D Gaussian Splattingcited by 40
  12. 2025LangSplatV2: High-dimensional 3D Language Gaussian Splatting with 450+ FPScited by 40
  13. 2025No Pose at All: Self-Supervised Pose-Free 3D Gaussian Splatting from Sparse Viewscited by 38
  14. 2025GWM: Towards Scalable Gaussian World Models for Robotic Manipulationcited by 37
  15. 2025Instant Gaussian Stream: Fast and Generalizable Streaming of Dynamic Scene Reconstruction via Gaussian Splattingcited by 35
  16. 2024GaussianHeads: End-to-End Learning of Drivable Gaussian Head Avatars from Coarse-to-fine Representationscited by 31
  17. 2024Gaussian Splatting on the Move: Blur and Rolling Shutter Compensation for Natural Camera Motioncited by 29
  18. 2025What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Modelscited by 29
  19. 2025FlowR: Flowing from Sparse to Dense 3D Reconstructionscited by 28
  20. 2024Sort-free Gaussian Splatting via Weighted Sum Renderingcited by 27
  21. 2025Luminance-GS: Adapting 3D Gaussian Splatting to Challenging Lighting Conditions with View-Adaptive Curve Adjustmentcited by 27
  22. 2024Feat2GS: Probing Visual Foundation Models with Gaussian Splattingcited by 26
  23. 2024GauStudio: A Modular Framework for 3D Gaussian Splatting and Beyondcited by 24
  24. 2024BillBoard Splatting (BBSplat): Learnable Textured Primitives for Novel View Synthesiscited by 23
  25. 2025LongSplat: Robust Unposed 3D Gaussian Splatting for Casual Long Videoscited by 23
  26. 2024MM3DGS SLAM: Multi-modal 3D Gaussian Splatting for SLAM Using Vision, Depth, and Inertial Measurementscited by 22
  27. 2024Event3DGS: Event-Based 3D Gaussian Splatting for High-Speed Robot Egomotioncited by 22
  28. 2025Outdoor Monocular SLAM with Global Scale-Consistent 3D Gaussian Pointmapscited by 21
  29. 2024GGRt: Towards Pose-free Generalizable 3D Gaussian Splatting in Real-timecited by 20
  30. 2024GaussianSR: 3D Gaussian Super-Resolution with 2D Diffusion Priorscited by 20
  31. 2024Free-SurGS: SfM-Free 3D Gaussian Splatting for Surgical Scene Reconstructioncited by 20
  32. 2024IncEventGS: Pose-Free Gaussian Splatting from a Single Event Cameracited by 20
  33. 2024Touch-GS: Visual-Tactile Supervised 3D Gaussian Splattingcited by 16
  34. 2024VDG: Vision-Only Dynamic Gaussian for Driving Simulationcited by 16
  35. 2024HDRSplat: Gaussian Splatting for High Dynamic Range 3D Scene Reconstruction from Raw Imagescited by 15
  36. 2024EF-3DGS: Event-Aided Free-Trajectory 3D Gaussian Splattingcited by 15
  37. 2024Gaussian Splatting for Efficient Satellite Image Photogrammetrycited by 15
  38. 2025VicaSplat: A Single Run is All You Need for 3D Gaussian Splatting and Camera Estimation from Unposed Video Framescited by 15

50 most cited of 193 All 193 (JSON)