# Pose-Free Omnidirectional Gaussian Splatting for 360-Degree Videos with Consistent Depth Priors

arXiv: https://arxiv.org/abs/2603.23324 · HTML: https://mlsanity.com/paper/2603.23324/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 41 of its 49 references that are in the map.
- First posted on arXiv 24 Mar 2026.

## Builds on (most cited first, 30 of 41)

- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [DUSt3R: Geometric 3D Vision Made Easy](https://mlsanity.com/paper/2312.14132/) (2023)
- [Towards Robust Monocular Depth Estimation: Mixing Datasets for Zero-shot Cross-dataset Transfer](https://mlsanity.com/paper/1907.01341/) (2019)
- [Grounding Image Matching in 3D with MASt3R](https://mlsanity.com/paper/2406.09756/) (2024)
- [Nerfstudio: A Modular Framework for Neural Radiance Field Development](https://mlsanity.com/paper/2302.04264/) (2023)
- [gsplat: An Open-Source Library for Gaussian Splatting](https://mlsanity.com/paper/2409.06765/) (2024)
- [3D Reconstruction with Spatial Memory](https://mlsanity.com/paper/2408.16061/) (2024)
- [Mini-Splatting: Representing Scenes with a Constrained Number of Gaussians](https://mlsanity.com/paper/2403.14166/) (2024)
- [COLMAP-Free 3D Gaussian Splatting](https://mlsanity.com/paper/2312.07504/) (2023)
- [MASt3R-SfM: a Fully-Integrated Solution for Unconstrained Structure-from-Motion](https://mlsanity.com/paper/2409.19152/) (2024)
- [3D Gaussian Ray Tracing: Fast Tracing of Particle Scenes](https://mlsanity.com/paper/2407.07090/) (2024)
- [StopThePop: Sorted Gaussian Splatting for View-Consistent Real-time Rendering](https://mlsanity.com/paper/2402.00525/) (2024)
- [3DGUT: Enabling Distorted Cameras and Secondary Rays in Gaussian Splatting](https://mlsanity.com/paper/2412.12507/) (2024)
- [InstantSplat: Sparse-view Gaussian Splatting in Seconds](https://mlsanity.com/paper/2403.20309/) (2024)
- [UniK3D: Universal Camera Monocular 3D Estimation](https://mlsanity.com/paper/2503.16591/) (2025)
- [Spherical View Synthesis for Self-Supervised 360 Depth Estimation](https://mlsanity.com/paper/1909.08112/) (2019)
- [On the Error Analysis of 3D Gaussian Splatting and an Optimal Projection Strategy](https://mlsanity.com/paper/2402.00752/) (2024)
- [Depth Anywhere: Enhancing 360 Monocular Depth Estimation via Perspective Distillation and Unlabeled Data Augmentation](https://mlsanity.com/paper/2406.12849/) (2024)
- [360-GS: Layout-guided Panoramic Gaussian Splatting For Indoor Roaming](https://mlsanity.com/paper/2402.00763/) (2024)
- [Balanced Spherical Grid for Egocentric View Synthesis](https://mlsanity.com/paper/2303.12408/) (2023)
- [DA2: Depth Anything in Any Direction](https://mlsanity.com/paper/2509.26618/) (2025)
- [Splatter-360: Generalizable 360circ Gaussian Splatting for Wide-baseline Panoramic Images](https://mlsanity.com/paper/2412.06250/) (2024)
- [PanSplat: 4K Panorama Synthesis with Feed-Forward Gaussian Splatting](https://mlsanity.com/paper/2412.12096/) (2024)
- [LongSplat: Robust Unposed 3D Gaussian Splatting for Casual Long Videos](https://mlsanity.com/paper/2508.14041/) (2025)
- [OmniGS: Fast Radiance Field Reconstruction using Omnidirectional Gaussian Splatting](https://mlsanity.com/paper/2404.03202/) (2024)
- [ODGS: 3D Scene Reconstruction from Omnidirectional Images with 3D Gaussian Splattings](https://mlsanity.com/paper/2410.20686/) (2024)
- [RaySplats: Ray Tracing based Gaussian Splatting](https://mlsanity.com/paper/2501.19196/) (2025)
- [SfM-Free 3D Gaussian Splatting via Hierarchical Training](https://mlsanity.com/paper/2412.01553/) (2024)
- [RayGauss: Volumetric Gaussian-Based Ray Casting for Photorealistic Novel View Synthesis](https://mlsanity.com/paper/2408.03356/) (2024)
- [3R-GS: Best Practice in Optimizing Camera Poses Along with 3DGS](https://mlsanity.com/paper/2504.04294/) (2025)

## Abstract (arXiv)

Omnidirectional 3D Gaussian Splatting with panoramas is a key technique for 3D scene representation, and existing methods typically rely on slow SfM to provide camera poses and sparse points priors. In this work, we propose a pose-free omnidirectional 3DGS method, named PFGS360, that reconstructs 3D Gaussians from unposed omnidirectional videos. To achieve accurate camera pose estimation, we first construct a spherical consistency-aware pose estimation module, which recovers poses by establishing consistent 2D-3D correspondences between the reconstructed Gaussians and the unposed images using Gaussians' internal depth priors. Besides, to enhance the fidelity of novel view synthesis, we introduce a depth-inlier-aware densification module to extract depth inliers and Gaussian outliers with consistent monocular depth priors, enabling efficient Gaussian densification and achieving photorealistic novel view synthesis. The experiments show significant outperformance over existing pose-free and pose-aware 3DGS methods on both real-world and synthetic 360-degree videos. Code is available at https://github.com/zcq15/PFGS360.