# PAD3R: Pose-Aware Dynamic 3D Reconstruction from Casual Videos

arXiv: https://arxiv.org/abs/2509.25183 · HTML: https://mlsanity.com/paper/2509.25183/

## Key facts

- Cited by 7 papers in the map (data through 14 Oct 2026).
- Builds on 37 of its 52 references that are in the map.
- First posted on arXiv 29 Sep 2025.

## Builds on (most cited first, 30 of 37)

- [Learning Transferable Visual Models From Natural Language Supervision](https://mlsanity.com/paper/2103.00020/) (2021)
- [Denoising Diffusion Probabilistic Models](https://mlsanity.com/paper/2006.11239/) (2020)
- [The Unreasonable Effectiveness of Deep Features as a Perceptual Metric](https://mlsanity.com/paper/1801.03924/) (2018)
- [Denoising Diffusion Implicit Models](https://mlsanity.com/paper/2010.02502/) (2020)
- [DINOv2: Learning Robust Visual Features without Supervision](https://mlsanity.com/paper/2304.07193/) (2023)
- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [DreamFusion: Text-to-3D using 2D Diffusion](https://mlsanity.com/paper/2209.14988/) (2022)
- [What Uncertainties Do We Need in Bayesian Deep Learning for Computer Vision?](https://mlsanity.com/paper/1703.04977/) (2017)
- [Objaverse: A Universe of Annotated 3D Objects](https://mlsanity.com/paper/2212.08051/) (2022)
- [Zero-1-to-3: Zero-shot One Image to 3D Object](https://mlsanity.com/paper/2303.11328/) (2023)
- [D-NeRF: Neural Radiance Fields for Dynamic Scenes](https://mlsanity.com/paper/2011.13961/) (2020)
- [Towards Accurate Generative Models of Video: A New Metric & Challenges](https://mlsanity.com/paper/1812.01717/) (2018)
- [ProlificDreamer: High-Fidelity and Diverse Text-to-3D Generation with Variational Score Distillation](https://mlsanity.com/paper/2305.16213/) (2023)
- [Deformable 3D Gaussians for High-Fidelity Monocular Dynamic Scene Reconstruction](https://mlsanity.com/paper/2309.13101/) (2023)
- [K-Planes: Explicit Radiance Fields in Space, Time, and Appearance](https://mlsanity.com/paper/2301.10241/) (2023)
- [Dynamic 3D Gaussians: Tracking by Persistent Dynamic View Synthesis](https://mlsanity.com/paper/2308.09713/) (2023)
- [SuGaR: Surface-Aligned Gaussian Splatting for Efficient 3D Mesh Reconstruction and High-Quality Mesh Rendering](https://mlsanity.com/paper/2311.12775/) (2023)
- [HexPlane: A Fast Representation for Dynamic Scenes](https://mlsanity.com/paper/2301.09632/) (2023)
- [Real-time Photorealistic Dynamic Scene Representation and Rendering with 4D Gaussian Splatting](https://mlsanity.com/paper/2310.10642/) (2023)
- [Dynamic View Synthesis from Dynamic Monocular Video](https://mlsanity.com/paper/2105.06468/) (2021)
- [HyperNeRF: A Higher-Dimensional Representation for Topologically Varying Neural Radiance Fields](https://mlsanity.com/paper/2106.13228/) (2021)
- [BANMo: Building Animatable 3D Neural Models from Many Casual Videos](https://mlsanity.com/paper/2112.12761/) (2021)
- [4D-Rotor Gaussian Splatting: Towards Efficient Novel View Synthesis for Dynamic Scenes](https://mlsanity.com/paper/2402.03307/) (2024)
- [MoSca: Dynamic Gaussian Fusion from Casual Videos via 4D Motion Scaffolds](https://mlsanity.com/paper/2405.17421/) (2024)
- [SV4D: Dynamic 3D Content Generation with Multi-Frame and Multi-View Consistency](https://mlsanity.com/paper/2407.17470/) (2024)
- [Consistent4D: Consistent 360deg Dynamic Object Generation from Monocular Video](https://mlsanity.com/paper/2311.02848/) (2023)
- [Animate124: Animating One Image to 4D Dynamic Scene](https://mlsanity.com/paper/2311.14603/) (2023)
- [STAG4D: Spatial-Temporal Anchored Generative 4D Gaussians](https://mlsanity.com/paper/2403.14939/) (2024)
- [Dynamic Gaussian Marbles for Novel View Synthesis of Casual Monocular Videos](https://mlsanity.com/paper/2406.18717/) (2024)
- [DreamMesh4D: Video-to-4D Generation with Sparse-Controlled Gaussian-Mesh Hybrid Representation](https://mlsanity.com/paper/2410.06756/) (2024)

## Built on by (most cited first, 7 of 7)

- [Motion 3-to-4: 3D Motion Reconstruction for 4D Synthesis](https://mlsanity.com/paper/2601.14253/) (2026)
- [FreeOrbit4D: Training-Free Arbitrary Camera Redirection for Monocular Videos via Foreground-Complete 4D Reconstruction](https://mlsanity.com/paper/2601.18993/) (2026)
- [World Tracing: Generative Pixel-Aligned Geometry Beyond the Visible](https://mlsanity.com/paper/2606.13652/) (2026)
- [Lift4D: Harmonizing Single-View 3D Estimation for 4D Reconstruction In-the-Wild](https://mlsanity.com/paper/2606.23688/) (2026)
- [A Few-Step Generative Model on Cumulative Flow Maps](https://mlsanity.com/paper/2605.03623/) (2026)
- [Progressive Pose-Guided 4D Animal Reconstruction from Monocular Video](https://mlsanity.com/paper/2607.00157/) (2026)
- [ORMA: Optimization-based Monocular 4D Reconstruction of Articulated Animals](https://mlsanity.com/paper/2609.37986/) (2026)

## Abstract (arXiv)

We present PAD3R, a method for reconstructing deformable 3D objects from casually captured, unposed monocular videos. Unlike existing approaches, PAD3R handles long video sequences featuring substantial object deformation, large-scale camera movement, and limited view coverage that typically challenge conventional systems. At its core, our approach trains a personalized, object-centric pose estimator, supervised by a pre-trained image-to-3D model. This guides the optimization of deformable 3D Gaussian representation. The optimization is further regularized by long-term 2D point tracking over the entire input video. By combining generative priors and differentiable rendering, PAD3R reconstructs high-fidelity, articulated 3D representations of objects in a category-agnostic way. Extensive qualitative and quantitative results show that PAD3R is robust and generalizes well across challenging scenarios, highlighting its potential for dynamic scene understanding and 3D content creation.