# AtlasGS: Atlanta-world Guided Surface Reconstruction with Implicit Structured Gaussians

arXiv: https://arxiv.org/abs/2510.25129 · HTML: https://mlsanity.com/paper/2510.25129/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 51 of its 62 references that are in the map.
- First posted on arXiv 29 Oct 2025.

## Builds on (most cited first, 30 of 51)

- [PyTorch: An Imperative Style, High-Performance Deep Learning Library](https://mlsanity.com/paper/1912.01703/) (2019)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [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)
- [ScanNet: Richly-annotated 3D Reconstructions of Indoor Scenes](https://mlsanity.com/paper/1702.04405/) (2017)
- [Masked-attention Mask Transformer for Universal Image Segmentation](https://mlsanity.com/paper/2112.01527/) (2021)
- [NeuS: Learning Neural Implicit Surfaces by Volume Rendering for Multi-view Reconstruction](https://mlsanity.com/paper/2106.10689/) (2021)
- [Depth Anything V2](https://mlsanity.com/paper/2406.09414/) (2024)
- [2D Gaussian Splatting for Geometrically Accurate Radiance Fields](https://mlsanity.com/paper/2403.17888/) (2024)
- [Volume Rendering of Neural Implicit Surfaces](https://mlsanity.com/paper/2106.12052/) (2021)
- [Neural Sparse Voxel Fields](https://mlsanity.com/paper/2007.11571/) (2020)
- [The Replica Dataset: A Digital Replica of Indoor Spaces](https://mlsanity.com/paper/1906.05797/) (2019)
- [ScanNet++: A High-Fidelity Dataset of 3D Indoor Scenes](https://mlsanity.com/paper/2308.11417/) (2023)
- [Scaffold-GS: Structured 3D Gaussians for View-Adaptive Rendering](https://mlsanity.com/paper/2312.00109/) (2023)
- [SuGaR: Surface-Aligned Gaussian Splatting for Efficient 3D Mesh Reconstruction and High-Quality Mesh Rendering](https://mlsanity.com/paper/2311.12775/) (2023)
- [NICE-SLAM: Neural Implicit Scalable Encoding for SLAM](https://mlsanity.com/paper/2112.12130/) (2021)
- [iMAP: Implicit Mapping and Positioning in Real-Time](https://mlsanity.com/paper/2103.12352/) (2021)
- [MonoSDF: Exploring Monocular Geometric Cues for Neural Implicit Surface Reconstruction](https://mlsanity.com/paper/2206.00665/) (2022)
- [Deep Marching Tetrahedra: a Hybrid Representation for High-Resolution 3D Shape Synthesis](https://mlsanity.com/paper/2111.04276/) (2021)
- [Extracting Triangular 3D Models, Materials, and Lighting From Images](https://mlsanity.com/paper/2111.12503/) (2021)
- [Neural RGB-D Surface Reconstruction](https://mlsanity.com/paper/2104.04532/) (2021)
- [PGSR: Planar-based Gaussian Splatting for Efficient and High-Fidelity Surface Reconstruction](https://mlsanity.com/paper/2406.06521/) (2024)
- [Panoptic Neural Fields: A Semantic Object-Aware Neural Scene Representation](https://mlsanity.com/paper/2205.04334/) (2022)
- [Gaussian Opacity Fields: Efficient Adaptive Surface Reconstruction in Unbounded Scenes](https://mlsanity.com/paper/2404.10772/) (2024)
- [GaussianPro: 3D Gaussian Splatting with Progressive Propagation](https://mlsanity.com/paper/2402.14650/) (2024)
- [MatrixCity: A Large-scale City Dataset for City-scale Neural Rendering and Beyond](https://mlsanity.com/paper/2309.16553/) (2023)
- [Co-SLAM: Joint Coordinate and Sparse Parametric Encodings for Neural Real-Time SLAM](https://mlsanity.com/paper/2304.14377/) (2023)
- [NICER-SLAM: Neural Implicit Scene Encoding for RGB SLAM](https://mlsanity.com/paper/2302.03594/) (2023)
- [High-quality Surface Reconstruction using Gaussian Surfels](https://mlsanity.com/paper/2404.17774/) (2024)
- [Vision-Only Robot Navigation in a Neural Radiance World](https://mlsanity.com/paper/2110.00168/) (2021)

## Built on by (most cited first, 4 of 4)

- [Multiplayer Interactive World Models with Representation Autoencoders](https://mlsanity.com/paper/2607.05352/) (2026)
- [OnlinePG: Online Open-Vocabulary Panoptic Mapping with 3D Gaussian Splatting](https://mlsanity.com/paper/2603.18510/) (2026)
- [Gaussian-Voxel Duet: A Dual-Scaffolding Hybrid Representation for Fast and Accurate Monocular Surface Reconstruction](https://mlsanity.com/paper/2605.26616/) (2026)
- [Beyond Isolated Objects: Relationship-aware Open Vocabulary Scene Understanding via 3D Scene Graph Analysis](https://mlsanity.com/paper/2607.05348/) (2026)

## Abstract (arXiv)

3D reconstruction of indoor and urban environments is a prominent research topic with various downstream applications. However, existing geometric priors for addressing low-texture regions in indoor and urban settings often lack global consistency. Moreover, Gaussian Splatting and implicit SDF fields often suffer from discontinuities or exhibit computational inefficiencies, resulting in a loss of detail. To address these issues, we propose an Atlanta-world guided implicit-structured Gaussian Splatting that achieves smooth indoor and urban scene reconstruction while preserving high-frequency details and rendering efficiency. By leveraging the Atlanta-world model, we ensure the accurate surface reconstruction for low-texture regions, while the proposed novel implicit-structured GS representations provide smoothness without sacrificing efficiency and high-frequency details. Specifically, we propose a semantic GS representation to predict the probability of all semantic regions and deploy a structure plane regularization with learnable plane indicators for global accurate surface reconstruction. Extensive experiments demonstrate that our method outperforms state-of-the-art approaches in both indoor and urban scenes, delivering superior surface reconstruction quality.