# SelfSplat: Pose-Free and 3D Prior-Free Generalizable 3D Gaussian Splatting

arXiv: https://arxiv.org/abs/2411.17190 · HTML: https://mlsanity.com/paper/2411.17190/

## Key facts

- Cited by 42 papers in the map (data through 14 Oct 2026).
- Builds on 64 of its 76 references that are in the map.
- First posted on arXiv 26 Nov 2024.

## Builds on (most cited first, 30 of 64)

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [Adam: A Method for Stochastic Optimization](https://mlsanity.com/paper/1412.6980/) (2014)
- [An Image is Worth 16x16 Words: Transformers for Image Recognition at Scale](https://mlsanity.com/paper/2010.11929/) (2020)
- [U-Net: Convolutional Networks for Biomedical Image Segmentation](https://mlsanity.com/paper/1505.04597/) (2015)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Swin Transformer: Hierarchical Vision Transformer using Shifted Windows](https://mlsanity.com/paper/2103.14030/) (2021)
- [The Unreasonable Effectiveness of Deep Features as a Perceptual Metric](https://mlsanity.com/paper/1801.03924/) (2018)
- [Masked Autoencoders Are Scalable Vision Learners](https://mlsanity.com/paper/2111.06377/) (2021)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Feature Pyramid Networks for Object Detection](https://mlsanity.com/paper/1612.03144/) (2016)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [RAFT: Recurrent All-Pairs Field Transforms for Optical Flow](https://mlsanity.com/paper/2003.12039/) (2020)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [pixelNeRF: Neural Radiance Fields from One or Few Images](https://mlsanity.com/paper/2012.02190/) (2020)
- [DUSt3R: Geometric 3D Vision Made Easy](https://mlsanity.com/paper/2312.14132/) (2023)
- [Depth Anything: Unleashing the Power of Large-Scale Unlabeled Data](https://mlsanity.com/paper/2401.10891/) (2024)
- [VideoMAE: Masked Autoencoders are Data-Efficient Learners for Self-Supervised Video Pre-Training](https://mlsanity.com/paper/2203.12602/) (2022)
- [On the Properties of Neural Machine Translation: Encoder-Decoder Approaches](https://mlsanity.com/paper/1409.1259/) (2014)
- [Grounding Image Matching in 3D with MASt3R](https://mlsanity.com/paper/2406.09756/) (2024)
- [MVSNet: Depth Inference for Unstructured Multi-view Stereo](https://mlsanity.com/paper/1804.02505/) (2018)
- [Unsupervised Learning of Depth and Ego-Motion from Video](https://mlsanity.com/paper/1704.07813/) (2017)
- [MVSNeRF: Fast Generalizable Radiance Field Reconstruction from Multi-View Stereo](https://mlsanity.com/paper/2103.15595/) (2021)
- [AdaptFormer: Adapting Vision Transformers for Scalable Visual Recognition](https://mlsanity.com/paper/2205.13535/) (2022)
- [IBRNet: Learning Multi-View Image-Based Rendering](https://mlsanity.com/paper/2102.13090/) (2021)
- [pixelSplat: 3D Gaussian Splats from Image Pairs for Scalable Generalizable 3D Reconstruction](https://mlsanity.com/paper/2312.12337/) (2023)
- [BARF: Bundle-Adjusting Neural Radiance Fields](https://mlsanity.com/paper/2104.06405/) (2021)
- [MVSplat: Efficient 3D Gaussian Splatting from Sparse Multi-View Images](https://mlsanity.com/paper/2403.14627/) (2024)
- [DL3DV-10K: A Large-Scale Scene Dataset for Deep Learning-based 3D Vision](https://mlsanity.com/paper/2312.16256/) (2023)
- [In-Place Scene Labelling and Understanding with Implicit Scene Representation](https://mlsanity.com/paper/2103.15875/) (2021)
- [SplaTAM: Splat, Track & Map 3D Gaussians for Dense RGB-D SLAM](https://mlsanity.com/paper/2312.02126/) (2023)

## Built on by (most cited first, 30 of 42)

- [VolSplat: Rethinking Feed-Forward 3D Gaussian Splatting with Voxel-Aligned Prediction](https://mlsanity.com/paper/2509.19297/) (2025)
- [No Pose at All: Self-Supervised Pose-Free 3D Gaussian Splatting from Sparse Views](https://mlsanity.com/paper/2508.01171/) (2025)
- [ZPressor: Bottleneck-Aware Compression for Scalable Feed-Forward 3DGS](https://mlsanity.com/paper/2505.23734/) (2025)
- [Advances in Feed-Forward 3D Reconstruction and View Synthesis: A Survey](https://mlsanity.com/paper/2507.14501/) (2025)
- [E-RayZer: Self-supervised 3D Reconstruction as Spatial Visual Pre-training](https://mlsanity.com/paper/2512.10950/) (2025)
- [iLRM: An Iterative Large 3D Reconstruction Model](https://mlsanity.com/paper/2507.23277/) (2025)
- [A Survey on 3D Gaussian Splatting Applications: Segmentation, Editing, and Generation](https://mlsanity.com/paper/2508.09977/) (2025)
- [True Self-Supervised Novel View Synthesis is Transferable](https://mlsanity.com/paper/2510.13063/) (2025)
- [LongSplat: Online Generalizable 3D Gaussian Splatting from Long Sequence Images](https://mlsanity.com/paper/2507.16144/) (2025)
- [Revisiting Depth Representations for Feed-Forward 3D Gaussian Splatting](https://mlsanity.com/paper/2506.05327/) (2025)
- [Off The Grid: Detection of Primitives for Feed-Forward 3D Gaussian Splatting](https://mlsanity.com/paper/2512.15508/) (2025)
- [EcoSplat: Efficiency-controllable Feed-forward 3D Gaussian Splatting from Multi-view Images](https://mlsanity.com/paper/2512.18692/) (2025)
- [PanoSplatt3R: Leveraging Perspective Pretraining for Generalized Unposed Wide-Baseline Panorama Reconstruction](https://mlsanity.com/paper/2507.21960/) (2025)
- [Digital Twin Generation from Visual Data: A Survey](https://mlsanity.com/paper/2504.13159/) (2025)
- [SPFSplatV2: Efficient Self-Supervised Pose-Free 3D Gaussian Splatting from Sparse Views](https://mlsanity.com/paper/2509.17246/) (2025)
- [FLEG: Feed-Forward Language Embedded Gaussian Splatting from Any Views via Compact Semantic Representation](https://mlsanity.com/paper/2512.17541/) (2025)
- [Recollection from Pensieve: Novel View Synthesis via Learning from Uncalibrated Videos](https://mlsanity.com/paper/2505.13440/) (2025)
- [Automated 3D-GS Registration and Fusion via Skeleton Alignment and Gaussian-Adaptive Features](https://mlsanity.com/paper/2507.20480/) (2025)
- [GaussianLens: Localized High-Resolution Reconstruction via On-Demand Gaussian Densification](https://mlsanity.com/paper/2509.25603/) (2025)
- [G3Splat: Geometrically Consistent Generalizable Gaussian Splatting](https://mlsanity.com/paper/2512.17547/) (2025)
- [CloseUpShot: Close-up Novel View Synthesis from Sparse-views via Point-conditioned Diffusion Model](https://mlsanity.com/paper/2511.13121/) (2025)
- [ViewSplat: View-Adaptive 3D Gaussian Splatting for Feed-Forward Synthesis](https://mlsanity.com/paper/2603.25265/) (2026)
- [From None to All: Self-Supervised 3D Reconstruction via Novel View Synthesis](https://mlsanity.com/paper/2603.27455/) (2026)
- [StructSplat: Generalizable 3D Gaussian Splatting from Uncalibrated Sparse Views](https://mlsanity.com/paper/2606.28321/) (2026)
- [Coca-Splat: Collaborative Optimization for Camera Parameters and 3D Gaussians](https://mlsanity.com/paper/2504.00639/) (2025)
- [ConfCtrl: Enabling Precise Camera Control in Video Diffusion via Confidence-Aware Interpolation](https://mlsanity.com/paper/2603.09819/) (2026)
- [F4Splat: Feed-Forward Predictive Densification for Feed-Forward 3D Gaussian Splatting](https://mlsanity.com/paper/2603.21304/) (2026)
- [AirSplat: Alignment and Rating for Robust Feed-Forward 3D Gaussian Splatting](https://mlsanity.com/paper/2603.25129/) (2026)
- [Learning 3D Representations for Spatial Intelligence from Unposed Multi-View Images](https://mlsanity.com/paper/2604.10573/) (2026)
- [NoDrift3R: Raymap-Guided Coupling for Drift-Robust Unposed Feed-Forward 3D Reconstruction](https://mlsanity.com/paper/2607.07168/) (2026)

## Abstract (arXiv)

We propose SelfSplat, a novel 3D Gaussian Splatting model designed to perform pose-free and 3D prior-free generalizable 3D reconstruction from unposed multi-view images. These settings are inherently ill-posed due to the lack of ground-truth data, learned geometric information, and the need to achieve accurate 3D reconstruction without finetuning, making it difficult for conventional methods to achieve high-quality results. Our model addresses these challenges by effectively integrating explicit 3D representations with self-supervised depth and pose estimation techniques, resulting in reciprocal improvements in both pose accuracy and 3D reconstruction quality. Furthermore, we incorporate a matching-aware pose estimation network and a depth refinement module to enhance geometry consistency across views, ensuring more accurate and stable 3D reconstructions. To present the performance of our method, we evaluated it on large-scale real-world datasets, including RealEstate10K, ACID, and DL3DV. SelfSplat achieves superior results over previous state-of-the-art methods in both appearance and geometry quality, also demonstrates strong cross-dataset generalization capabilities. Extensive ablation studies and analysis also validate the effectiveness of our proposed methods. Code and pretrained models are available at https://gynjn.github.io/selfsplat/