# PCR-GS: COLMAP-Free 3D Gaussian Splatting via Pose Co-Regularizations

arXiv: https://arxiv.org/abs/2507.13891 · HTML: https://mlsanity.com/paper/2507.13891/

## Key facts

- Cited by 2 papers in the map (data through 14 Oct 2026).
- Builds on 38 of its 48 references that are in the map.
- First posted on arXiv 18 Jul 2025.

## Builds on (most cited first, 30 of 38)

- [The Unreasonable Effectiveness of Deep Features as a Perceptual Metric](https://mlsanity.com/paper/1801.03924/) (2018)
- [Emerging Properties in Self-Supervised Vision Transformers](https://mlsanity.com/paper/2104.14294/) (2021)
- [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)
- [Vision Transformers for Dense Prediction](https://mlsanity.com/paper/2103.13413/) (2021)
- [D-NeRF: Neural Radiance Fields for Dynamic Scenes](https://mlsanity.com/paper/2011.13961/) (2020)
- [Block-NeRF: Scalable Large Scene Neural View Synthesis](https://mlsanity.com/paper/2202.05263/) (2022)
- [Common Objects in 3D: Large-Scale Learning and Evaluation of Real-life 3D Category Reconstruction](https://mlsanity.com/paper/2109.00512/) (2021)
- [BARF: Bundle-Adjusting Neural Radiance Fields](https://mlsanity.com/paper/2104.06405/) (2021)
- [FastNeRF: High-Fidelity Neural Rendering at 200FPS](https://mlsanity.com/paper/2103.10380/) (2021)
- [Point-NeRF: Point-based Neural Radiance Fields](https://mlsanity.com/paper/2201.08845/) (2022)
- [Putting NeRF on a Diet: Semantically Consistent Few-Shot View Synthesis](https://mlsanity.com/paper/2104.00677/) (2021)
- [DrivingGaussian: Composite Gaussian Splatting for Surrounding Dynamic Autonomous Driving Scenes](https://mlsanity.com/paper/2312.07920/) (2023)
- [Deep ViT Features as Dense Visual Descriptors](https://mlsanity.com/paper/2112.05814/) (2021)
- [FSGS: Real-Time Few-shot View Synthesis using Gaussian Splatting](https://mlsanity.com/paper/2312.00451/) (2023)
- [Single-View View Synthesis with Multiplane Images](https://mlsanity.com/paper/2004.11364/) (2020)
- [SparseNeRF: Distilling Depth Ranking for Few-shot Novel View Synthesis](https://mlsanity.com/paper/2303.16196/) (2023)
- [NoPe-NeRF: Optimising Neural Radiance Field with No Pose Prior](https://mlsanity.com/paper/2212.07388/) (2022)
- [Free View Synthesis](https://mlsanity.com/paper/2008.05511/) (2020)
- [COLMAP-Free 3D Gaussian Splatting](https://mlsanity.com/paper/2312.07504/) (2023)
- [Stable View Synthesis](https://mlsanity.com/paper/2011.07233/) (2020)
- [GNeRF: GAN-based Neural Radiance Field without Posed Camera](https://mlsanity.com/paper/2103.15606/) (2021)
- [SparseGS: Sparse View Synthesis using 3D Gaussian Splatting](https://mlsanity.com/paper/2312.00206/) (2023)
- [CoR-GS: Sparse-View 3D Gaussian Splatting via Co-Regularization](https://mlsanity.com/paper/2405.12110/) (2024)
- [F2-NeRF: Fast Neural Radiance Field Training with Free Camera Trajectories](https://mlsanity.com/paper/2303.15951/) (2023)
- [EfficientNeRF: Efficient Neural Radiance Fields](https://mlsanity.com/paper/2206.00878/) (2022)
- [textitS3Gaussian: Self-Supervised Street Gaussians for Autonomous Driving](https://mlsanity.com/paper/2405.20323/) (2024)
- [Motion-aware 3D Gaussian Splatting for Efficient Dynamic Scene Reconstruction](https://mlsanity.com/paper/2403.11447/) (2024)
- [SHERF: Generalizable Human NeRF from a Single Image](https://mlsanity.com/paper/2303.12791/) (2023)
- [SGS-SLAM: Semantic Gaussian Splatting For Neural Dense SLAM](https://mlsanity.com/paper/2402.03246/) (2024)

## Built on by (most cited first, 2 of 2)

- [MoGaFace: Momentum-Guided and Texture-Aware Gaussian Avatars for Consistent Facial Geometry](https://mlsanity.com/paper/2508.01218/) (2025)
- [AVSplat: Dense-View Feed-Forward 3D Gaussian Splatting with Assist-View Preconditioning](https://mlsanity.com/paper/2609.05925/) (2026)

## Abstract (arXiv)

COLMAP-free 3D Gaussian Splatting (3D-GS) has recently attracted increasing attention due to its remarkable performance in reconstructing high-quality 3D scenes from unposed images or videos. However, it often struggles to handle scenes with complex camera trajectories as featured by drastic rotation and translation across adjacent camera views, leading to degraded estimation of camera poses and further local minima in joint optimization of camera poses and 3D-GS. We propose PCR-GS, an innovative COLMAP-free 3DGS technique that achieves superior 3D scene modeling and camera pose estimation via camera pose co-regularization. PCR-GS achieves regularization from two perspectives. The first is feature reprojection regularization which extracts view-robust DINO features from adjacent camera views and aligns their semantic information for camera pose regularization. The second is wavelet-based frequency regularization which exploits discrepancy in high-frequency details to further optimize the rotation matrix in camera poses. Extensive experiments over multiple real-world scenes show that the proposed PCR-GS achieves superior pose-free 3D-GS scene modeling under dramatic changes of camera trajectories.