# Robust Gaussian Splatting

arXiv: https://arxiv.org/abs/2404.04211 · HTML: https://mlsanity.com/paper/2404.04211/

## Key facts

- Cited by 16 papers in the map (data through 14 Oct 2026).
- Builds on 25 of its 36 references that are in the map.
- First posted on arXiv 5 Apr 2024.

## Builds on (most cited first, 25 of 25)

- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Instant Neural Graphics Primitives with a Multiresolution Hash Encoding](https://mlsanity.com/paper/2201.05989/) (2022)
- [Fourier Features Let Networks Learn High Frequency Functions in Low Dimensional Domains](https://mlsanity.com/paper/2006.10739/) (2020)
- [Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fields](https://mlsanity.com/paper/2111.12077/) (2021)
- [Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fields](https://mlsanity.com/paper/2103.13415/) (2021)
- [Restormer: Efficient Transformer for High-Resolution Image Restoration](https://mlsanity.com/paper/2111.09881/) (2021)
- [Plenoxels: Radiance Fields without Neural Networks](https://mlsanity.com/paper/2112.05131/) (2021)
- [TensoRF: Tensorial Radiance Fields](https://mlsanity.com/paper/2203.09517/) (2022)
- [NeRF in the Wild: Neural Radiance Fields for Unconstrained Photo Collections](https://mlsanity.com/paper/2008.02268/) (2020)
- [Deep Image Prior](https://mlsanity.com/paper/1711.10925/) (2017)
- [ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenes](https://mlsanity.com/paper/2308.11417/) (2023)
- [Zip-NeRF: Anti-Aliased Grid-Based Neural Radiance Fields](https://mlsanity.com/paper/2304.06706/) (2023)
- [BARF: Bundle-Adjusting Neural Radiance Fields](https://mlsanity.com/paper/2104.06405/) (2021)
- [Nerfstudio: A Modular Framework for Neural Radiance Field Development](https://mlsanity.com/paper/2302.04264/) (2023)
- [HexPlane: A Fast Representation for Dynamic Scenes](https://mlsanity.com/paper/2301.09632/) (2023)
- [BasicVSR++: Improving Video Super-Resolution with Enhanced Propagation and Alignment](https://mlsanity.com/paper/2104.13371/) (2021)
- [NeRF in the Dark: High Dynamic Range View Synthesis from Noisy Raw Images](https://mlsanity.com/paper/2111.13679/) (2021)
- [Scale-recurrent Network for Deep Image Deblurring](https://mlsanity.com/paper/1802.01770/) (2018)
- [Self-Calibrating Neural Radiance Fields](https://mlsanity.com/paper/2108.13826/) (2021)
- [Deblur-NeRF: Neural Radiance Fields from Blurry Images](https://mlsanity.com/paper/2111.14292/) (2021)
- [HDR-NeRF: High Dynamic Range Neural Radiance Fields](https://mlsanity.com/paper/2111.14451/) (2021)
- [Neural Blind Deconvolution Using Deep Priors](https://mlsanity.com/paper/1908.02197/) (2019)
- [DP-NeRF: Deblurred Neural Radiance Field with Physical Scene Priors](https://mlsanity.com/paper/2211.12046/) (2022)
- [Deblurring 3D Gaussian Splatting](https://mlsanity.com/paper/2401.00834/) (2024)
- [CamP: Camera Preconditioning for Neural Radiance Fields](https://mlsanity.com/paper/2308.10902/) (2023)

## Built on by (most cited first, 16 of 16)

- [WildGaussians: 3D Gaussian Splatting in the Wild](https://mlsanity.com/paper/2407.08447/) (2024)
- [Wild-GS: Real-Time Novel View Synthesis from Unconstrained Photo Collections](https://mlsanity.com/paper/2406.10373/) (2024)
- [MEGA: Memory-Efficient 4D Gaussian Splatting for Dynamic Scenes](https://mlsanity.com/paper/2410.13613/) (2024)
- [EG4D: Explicit Generation of 4D Object without Score Distillation](https://mlsanity.com/paper/2405.18132/) (2024)
- [Dynamic 3D Gaussian Fields for Urban Areas](https://mlsanity.com/paper/2406.03175/) (2024)
- [BARD-GS: Blur-Aware Reconstruction of Dynamic Scenes via Gaussian Splatting](https://mlsanity.com/paper/2503.15835/) (2025)
- [RecGS: Removing Water Caustic with Recurrent Gaussian Splatting](https://mlsanity.com/paper/2407.10318/) (2024)
- [3R-GS: Best Practice in Optimizing Camera Poses Along with 3DGS](https://mlsanity.com/paper/2504.04294/) (2025)
- [RobustSplat: Decoupling Densification and Dynamics for Transient-Free 3DGS](https://mlsanity.com/paper/2506.02751/) (2025)
- [Decoupling Appearance Variations with 3D Consistent Features in Gaussian Splatting](https://mlsanity.com/paper/2501.10788/) (2025)
- [DoF-Gaussian: Controllable Depth-of-Field for 3D Gaussian Splatting](https://mlsanity.com/paper/2503.00746/) (2025)
- [Deblur-Avatar: Animatable Avatars from Motion-Blurred Monocular Videos](https://mlsanity.com/paper/2501.13335/) (2025)
- [Deblur Gaussian Splatting SLAM](https://mlsanity.com/paper/2503.12572/) (2025)
- [A Constrained Optimization Approach for Gaussian Splatting from Coarsely-posed Images and Noisy Lidar Point Clouds](https://mlsanity.com/paper/2504.09129/) (2025)
- [ArCSEM: Artistic Colorization of SEM Images via Gaussian Splatting](https://mlsanity.com/paper/2410.21310/) (2024)
- [Light Field Primitive for Novel View Synthesis](https://mlsanity.com/paper/2609.31198/) (2026)

## Abstract (arXiv)

In this paper, we address common error sources for 3D Gaussian Splatting (3DGS) including blur, imperfect camera poses, and color inconsistencies, with the goal of improving its robustness for practical applications like reconstructions from handheld phone captures. Our main contribution involves modeling motion blur as a Gaussian distribution over camera poses, allowing us to address both camera pose refinement and motion blur correction in a unified way. Additionally, we propose mechanisms for defocus blur compensation and for addressing color in-consistencies caused by ambient light, shadows, or due to camera-related factors like varying white balancing settings. Our proposed solutions integrate in a seamless way with the 3DGS formulation while maintaining its benefits in terms of training efficiency and rendering speed. We experimentally validate our contributions on relevant benchmark datasets including Scannet++ and Deblur-NeRF, obtaining state-of-the-art results and thus consistent improvements over relevant baselines.