mlsanityData to 7 Oct 2026

From NeRFs to Gaussian Splats, and Back

arXiv 2405.09717 ↗First posted 15 May 2024cs.CVcited by 6

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Abstract (arXiv)

For robotics applications where there is a limited number of (typically ego-centric) views, parametric representations such as neural radiance fields (NeRFs) generalize better than non-parametric ones such as Gaussian splatting (GS) to views that are very different from those in the training data; GS however can render much faster than NeRFs. We develop a procedure to convert back and forth between the two. Our approach achieves the best of both NeRFs (superior PSNR, SSIM, and LPIPS on dissimilar views, and a compact representation) and GS (real-time rendering and ability for easily modifying the representation); the computational cost of these conversions is minor compared to training the two from scratch.

Key facts. Cited by 6 papers in the map (data through 7 Oct 2026). Builds on 25 of its 28 references that are in the map. First posted on arXiv 15 May 2024.

Builds on

25 of 28 references.

References · 25

  1. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 6,141
  2. 2022Instant Neural Graphics Primitives with a Multiresolution Hash Encodingcited by 3,698
  3. 2021Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fieldscited by 2,013
  4. 2020D-NeRF: Neural Radiance Fields for Dynamic Scenescited by 1,459
  5. 2020Nerfies: Deformable Neural Radiance Fieldscited by 1,194
  6. 20242D Gaussian Splatting for Geometrically Accurate Radiance Fieldscited by 1,061
  7. 2020Neural Scene Flow Fields for Space-Time View Synthesis of Dynamic Scenescited by 750
  8. 2023Nerfstudio: A Modular Framework for Neural Radiance Field Developmentcited by 596
  9. 2023LERF: Language Embedded Radiance Fieldscited by 538
  10. 2021iMAP: Implicit Mapping and Positioning in Real-Timecited by 476
  11. 2023LangSplat: 3D Language Gaussian Splattingcited by 410
  12. 2022Fast Dynamic Radiance Fields with Time-Aware Neural Voxelscited by 344
13 more
  1. 2022DynIBaR: Neural Dynamic Image-Based Renderingcited by 224
  2. 2023EmerNeRF: Emergent Spatial-Temporal Scene Decomposition via Self-Supervisioncited by 216
  3. 2023Language Embedded 3D Gaussians for Open-Vocabulary Scene Understandingcited by 205
  4. 2022NeRF-SLAM: Real-Time Dense Monocular SLAM with Neural Radiance Fieldscited by 188
  5. 2021Vision-Only Robot Navigation in a Neural Radiance Worldcited by 153
  6. 2023Distilled Feature Fields Enable Few-Shot Language-Guided Manipulationcited by 130
  7. 20213D Neural Scene Representations for Visuomotor Controlcited by 110
  8. 2024RadSplat: Radiance Field-Informed Gaussian Splatting for Robust Real-Time Rendering with 900+ FPScited by 110
  9. 2024FMGS: Foundation Model Embedded 3D Gaussian Splatting for Holistic 3D Scene Understandingcited by 86
  10. 2023vMAP: Vectorised Object Mapping for Neural Field SLAMcited by 67
  11. 2022NeRF2Real: Sim2real Transfer of Vision-guided Bipedal Motion Skills using Neural Radiance Fieldscited by 41
  12. 2024Beyond Uncertainty: Risk-Aware Active View Acquisition for Safe Robot Navigation and 3D Scene Understanding with FisherRFcited by 9
  13. 2024Customizable Perturbation Synthesis for Robust SLAM Benchmarkingcited by 5

Built on by

Cited by year (2026 to 7 Oct)

Citing papers per year: 2024: 1; 2025: 3; 2026: 2.

6 papers.

  1. 2024Sources of Uncertainty in 3D Scene Reconstructioncited by 9
  2. 2025HS-SLAM: Hybrid Representation with Structural Supervision for Improved Dense SLAMcited by 6
  3. 2025GrowSplat: Constructing Temporal Digital Twins of Plants with Gaussian Splatscited by 5
  4. 2025SurfaceSplat: Connecting Surface Reconstruction and Gaussian Splattingcited by 5
  5. 2026Event-Aided Sharp Radiance Field Reconstruction for Fast-Flying Dronescited by 1
  6. 2026RouteBridge: Reliability-Routed Bidirectional Distillation Between Neural Radiance Fields and 3D Gaussian Splattingcited by 0