# Auto3R: Automated 3D Reconstruction and Scanning via Data-driven Uncertainty Quantification

arXiv: https://arxiv.org/abs/2512.04528 · HTML: https://mlsanity.com/paper/2512.04528/

## Key facts

- Cited by 4 papers in the map (data through 14 Oct 2026).
- Builds on 33 of its 49 references that are in the map.
- First posted on arXiv 4 Dec 2025.

## Builds on (most cited first, 30 of 33)

- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fields](https://mlsanity.com/paper/2111.12077/) (2021)
- [Objaverse: A Universe of Annotated 3D Objects](https://mlsanity.com/paper/2212.08051/) (2022)
- [MUSIQ: Multi-scale Image Quality Transformer](https://mlsanity.com/paper/2108.05997/) (2021)
- [MANIQA: Multi-dimension Attention Network for No-Reference Image Quality Assessment](https://mlsanity.com/paper/2204.08958/) (2022)
- [TOPIQ: A Top-down Approach from Semantics to Distortions for Image Quality Assessment](https://mlsanity.com/paper/2308.03060/) (2023)
- [No-Reference Image Quality Assessment via Transformers, Relative Ranking, and Self-Consistency](https://mlsanity.com/paper/2108.06858/) (2021)
- [ActiveNeRF: Learning where to See with Uncertainty Estimation](https://mlsanity.com/paper/2209.08546/) (2022)
- [Estimating and Exploiting the Aleatoric Uncertainty in Surface Normal Estimation](https://mlsanity.com/paper/2109.09881/) (2021)
- [Map-free Visual Relocalization: Metric Pose Relative to a Single Image](https://mlsanity.com/paper/2210.05494/) (2022)
- [PUP 3D-GS: Principled Uncertainty Pruning for 3D Gaussian Splatting](https://mlsanity.com/paper/2406.10219/) (2024)
- [Bayes' Rays: Uncertainty Quantification for Neural Radiance Fields](https://mlsanity.com/paper/2309.03185/) (2023)
- [GIR: 3D Gaussian Inverse Rendering for Relightable Scene Factorization](https://mlsanity.com/paper/2312.05133/) (2023)
- [Stochastic Neural Radiance Fields: Quantifying Uncertainty in Implicit 3D Representations](https://mlsanity.com/paper/2109.02123/) (2021)
- [Density-aware NeRF Ensembles: Quantifying Predictive Uncertainty in Neural Radiance Fields](https://mlsanity.com/paper/2209.08718/) (2022)
- [NeurAR: Neural Uncertainty for Autonomous 3D Reconstruction with Implicit Neural Representations](https://mlsanity.com/paper/2207.10985/) (2022)
- [NeU-NBV: Next Best View Planning Using Uncertainty Estimation in Image-Based Neural Rendering](https://mlsanity.com/paper/2303.01284/) (2023)
- [GenNBV: Generalizable Next-Best-View Policy for Active 3D Reconstruction](https://mlsanity.com/paper/2402.16174/) (2024)
- [ActiveGS: Active Scene Reconstruction Using Gaussian Splatting](https://mlsanity.com/paper/2412.17769/) (2024)
- [ActiveSplat: High-Fidelity Scene Reconstruction through Active Gaussian Splatting](https://mlsanity.com/paper/2410.21955/) (2024)
- [Material Anything: Generating Materials for Any 3D Object via Diffusion](https://mlsanity.com/paper/2411.15138/) (2024)
- [Active Implicit Object Reconstruction using Uncertainty-guided Next-Best-View Optimization](https://mlsanity.com/paper/2303.16739/) (2023)
- [Neural Visibility Field for Uncertainty-Driven Active Mapping](https://mlsanity.com/paper/2406.06948/) (2024)
- [Modeling uncertainty for Gaussian Splatting](https://mlsanity.com/paper/2403.18476/) (2024)
- [GauSS-MI: Gaussian Splatting Shannon Mutual Information for Active 3D Reconstruction](https://mlsanity.com/paper/2504.21067/) (2025)
- [NeRF Director: Revisiting View Selection in Neural Volume Rendering](https://mlsanity.com/paper/2406.08839/) (2024)
- [Manifold Sampling for Differentiable Uncertainty in Radiance Fields](https://mlsanity.com/paper/2409.12661/) (2024)
- [The Surface Edge Explorer (SEE): A measurement-direct approach to next best view planning](https://mlsanity.com/paper/2207.13684/) (2022)
- [Multi-view 3D Object Reconstruction and Uncertainty Modelling with Neural Shape Prior](https://mlsanity.com/paper/2306.11739/) (2023)
- [UAV-based Autonomous Image Acquisition with Multi-View Stereo Quality Assurance by Confidence Prediction](https://mlsanity.com/paper/1605.01923/) (2016)

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

- [OA-NBV: Occlusion-Aware Next-Best-View Planning for Human-Centered Active Perception on Mobile Robots](https://mlsanity.com/paper/2603.11072/) (2026)
- [GO-PRE: Goal-Oriented Next-Best-View Selection via Predictive Rendering Entropy for Active 3D Reconstruction](https://mlsanity.com/paper/2607.29037/) (2026)
- [2D GauSS-MI: Efficient Active Scene Reconstruction with Balanced Visual and Geometric Quality](https://mlsanity.com/paper/2609.21516/) (2026)
- [OpenFlyScan: A Quality-Guided Aerial Reconstruction System for Consumer Drones](https://mlsanity.com/paper/2609.24253/) (2026)

## Abstract (arXiv)

Traditional high-quality 3D scanning and reconstruction typically relies on human labor to plan the scanning procedure. With the rapid development of embodied systems such as drones and robots, there is a growing demand of performing accurate 3D scanning and reconstruction in an fully automated manner. We introduce Auto3R, a data-driven uncertainty quantification model that is designed to automate the 3D scanning and reconstruction of scenes and objects, including objects with non-lambertian and specular materials. Specifically, in a process of iterative 3D reconstruction and scanning, Auto3R can make efficient and accurate prediction of uncertainty distribution over potential scanning viewpoints, without knowing the ground truth geometry and appearance. Through extensive experiments, Auto3R achieves superior performance that outperforms the state-of-the-art methods by a large margin. We also deploy Auto3R on a robot arm equipped with a camera and demonstrate that Auto3R can be used to effectively digitize real-world 3D objects and delivers ready-to-use and photorealistic digital assets. Our homepage: https://tomatoma00.github.io/auto3r.github.io .