# DAS3R: Dynamics-Aware Gaussian Splatting for Static Scene Reconstruction

arXiv: https://arxiv.org/abs/2412.19584 · HTML: https://mlsanity.com/paper/2412.19584/

## Key facts

- Cited by 26 papers in the map (data through 14 Oct 2026).
- Builds on 9 of its 33 references that are in the map.
- First posted on arXiv 27 Dec 2024.

## Builds on (most cited first, 9 of 9)

- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [MonST3R: A Simple Approach for Estimating Geometry in the Presence of Motion](https://mlsanity.com/paper/2410.03825/) (2024)
- [MoSca: Dynamic Gaussian Fusion from Casual Videos via 4D Motion Scaffolds](https://mlsanity.com/paper/2405.17421/) (2024)
- [WildGaussians: 3D Gaussian Splatting in the Wild](https://mlsanity.com/paper/2407.08447/) (2024)
- [InstantSplat: Sparse-view Gaussian Splatting in Seconds](https://mlsanity.com/paper/2403.20309/) (2024)
- [SpotlessSplats: Ignoring Distractors in 3D Gaussian Splatting](https://mlsanity.com/paper/2406.20055/) (2024)
- [GFlow: Recovering 4D World from Monocular Video](https://mlsanity.com/paper/2405.18426/) (2024)
- [VDO-SLAM: A Visual Dynamic Object-aware SLAM System](https://mlsanity.com/paper/2005.11052/) (2020)
- [Robust 3D Gaussian Splatting for Novel View Synthesis in Presence of Distractors](https://mlsanity.com/paper/2408.11697/) (2024)

## Built on by (most cited first, 26 of 26)

- [Easi3R: Estimating Disentangled Motion from DUSt3R Without Training](https://mlsanity.com/paper/2503.24391/) (2025)
- [VGGT4D: Mining Motion Cues in Visual Geometry Transformers for 4D Scene Reconstruction](https://mlsanity.com/paper/2511.19971/) (2025)
- [Advances in Feed-Forward 3D Reconstruction and View Synthesis: A Survey](https://mlsanity.com/paper/2507.14501/) (2025)
- [iTACO: Interactable Digital Twins of Articulated Objects from Casually Captured RGBD Videos](https://mlsanity.com/paper/2506.08334/) (2025)
- [Reconstructing 4D Spatial Intelligence: A Survey](https://mlsanity.com/paper/2507.21045/) (2025)
- [Rig3R: Rig-Aware Conditioning for Learned 3D Reconstruction](https://mlsanity.com/paper/2506.02265/) (2025)
- [RobustSplat: Decoupling Densification and Dynamics for Transient-Free 3DGS](https://mlsanity.com/paper/2506.02751/) (2025)
- [StreamSplat: Towards Online Dynamic 3D Reconstruction from Uncalibrated Video Streams](https://mlsanity.com/paper/2506.08862/) (2025)
- [PAGE-4D: Disentangled pose and geometry estimation for vggt-4d perception](https://mlsanity.com/paper/2510.17568/) (2025)
- [GEM-4D: Geometry-Enhanced Video World Models for Robot Manipulation](https://mlsanity.com/paper/2605.22882/) (2026)
- [MUT3R: Motion-aware Updating Transformer for Dynamic 3D Reconstruction](https://mlsanity.com/paper/2512.03939/) (2025)
- [Feed-Forward 3D Scene Modeling: A Problem-Driven Perspective](https://mlsanity.com/paper/2604.14025/) (2026)
- [SpeeDe3DGS: Speedy Deformable 3D Gaussian Splatting with Temporal Pruning and Motion Grouping](https://mlsanity.com/paper/2506.07917/) (2025)
- [Video Understanding: From Geometry and Semantics to Unified Models](https://mlsanity.com/paper/2603.17840/) (2026)
- [EAG3R: Event-Augmented 3D Geometry Estimation for Dynamic and Extreme-Lighting Scenes](https://mlsanity.com/paper/2512.00771/) (2025)
- [Robust 4D Visual Geometry Transformer with Uncertainty-Aware Priors](https://mlsanity.com/paper/2604.09366/) (2026)
- [ProDyG: Progressive Dynamic Scene Reconstruction via Gaussian Splatting from Monocular Videos](https://mlsanity.com/paper/2509.17864/) (2025)
- [Dynamic Visual SLAM using a General 3D Prior](https://mlsanity.com/paper/2512.06868/) (2025)
- [GMOS: Grounding Moving Object Segmentation in 3D Space and Time](https://mlsanity.com/paper/2605.30352/) (2026)
- [Sparse View Distractor-Free Gaussian Splatting](https://mlsanity.com/paper/2603.01603/) (2026)
- [GA-GS: Generation-Assisted Gaussian Splatting for Static Scene Reconstruction](https://mlsanity.com/paper/2604.04331/) (2026)
- [4DVGGT-D: 4D Visual Geometry Transformer with Improved Dynamic Depth Estimation](https://mlsanity.com/paper/2605.12027/) (2026)
- [Good Token Hunting: A Hitchhiker's Guide to Token Selection for Visual Geometry Transformers](https://mlsanity.com/paper/2605.23892/) (2026)
- [Ground4D: Consistency-Aware 4D Reconstruction from Monocular Video](https://mlsanity.com/paper/2606.28828/) (2026)
- [Robust Multimodal Dynamic Object Segmentation](https://mlsanity.com/paper/2607.18153/) (2026)
- [Dyna3: VLM-Guided Training-Free 4D Reconstruction via Depth Foundation Models](https://mlsanity.com/paper/2610.01286/) (2026)

## Abstract (arXiv)

We propose a novel framework for scene decomposition and static background reconstruction from everyday videos. By integrating the trained motion masks and modeling the static scene as Gaussian splats with dynamics-aware optimization, our method achieves more accurate background reconstruction results than previous works. Our proposed method is termed DAS3R, an abbreviation for Dynamics-Aware Gaussian Splatting for Static Scene Reconstruction. Compared to existing methods, DAS3R is more robust in complex motion scenarios, capable of handling videos where dynamic objects occupy a significant portion of the scene, and does not require camera pose inputs or point cloud data from SLAM-based methods. We compared DAS3R against recent distractor-free approaches on the DAVIS and Sintel datasets; DAS3R demonstrates enhanced performance and robustness with a margin of more than 2 dB in PSNR. The project's webpage can be accessed via urlhttps://kai422.github.io/DAS3R/