# DualSplat: Robust 3D Gaussian Splatting via Pseudo-Mask Bootstrapping from Reconstruction Failures

arXiv: https://arxiv.org/abs/2604.21631 · HTML: https://mlsanity.com/paper/2604.21631/

## Key facts

- Cited by 1 papers in the map (data through 14 Oct 2026).
- Builds on 41 of its 44 references that are in the map.
- First posted on arXiv 23 Apr 2026.

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

- [Deep Residual Learning for Image Recognition](https://mlsanity.com/paper/1512.03385/) (2015)
- [High-Resolution Image Synthesis with Latent Diffusion Models](https://mlsanity.com/paper/2112.10752/) (2021)
- [Very Deep Convolutional Networks for Large-Scale Image Recognition](https://mlsanity.com/paper/1409.1556/) (2014)
- [Segment Anything](https://mlsanity.com/paper/2304.02643/) (2023)
- [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)
- [Instant Neural Graphics Primitives with a Multiresolution Hash Encoding](https://mlsanity.com/paper/2201.05989/) (2022)
- [SAM 2: Segment Anything in Images and Videos](https://mlsanity.com/paper/2408.00714/) (2024)
- [Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fields](https://mlsanity.com/paper/2111.12077/) (2021)
- [Mip-NeRF: A Multiscale Representation for Anti-Aliasing Neural Radiance Fields](https://mlsanity.com/paper/2103.13415/) (2021)
- [Plenoxels: Radiance Fields without Neural Networks](https://mlsanity.com/paper/2112.05131/) (2021)
- [DINOv3](https://mlsanity.com/paper/2508.10104/) (2025)
- [NeRF in the Wild: Neural Radiance Fields for Unconstrained Photo Collections](https://mlsanity.com/paper/2008.02268/) (2020)
- [DreamGaussian: Generative Gaussian Splatting for Efficient 3D Content Creation](https://mlsanity.com/paper/2309.16653/) (2023)
- [Mip-Splatting: Alias-free 3D Gaussian Splatting](https://mlsanity.com/paper/2311.16493/) (2023)
- [UNISURF: Unifying Neural Implicit Surfaces and Radiance Fields for Multi-View Reconstruction](https://mlsanity.com/paper/2104.10078/) (2021)
- [Emergent Correspondence from Image Diffusion](https://mlsanity.com/paper/2306.03881/) (2023)
- [LangSplat: 3D Language Gaussian Splatting](https://mlsanity.com/paper/2312.16084/) (2023)
- [Feature 3DGS: Supercharging 3D Gaussian Splatting to Enable Distilled Feature Fields](https://mlsanity.com/paper/2312.03203/) (2023)
- [FSGS: Real-Time Few-shot View Synthesis using Gaussian Splatting](https://mlsanity.com/paper/2312.00451/) (2023)
- [GaussianDreamer: Fast Generation from Text to 3D Gaussians by Bridging 2D and 3D Diffusion Models](https://mlsanity.com/paper/2310.08529/) (2023)
- [Segment Any 3D Gaussians](https://mlsanity.com/paper/2312.00860/) (2023)
- [WildGaussians: 3D Gaussian Splatting in the Wild](https://mlsanity.com/paper/2407.08447/) (2024)
- [Multi-Scale 3D Gaussian Splatting for Anti-Aliased Rendering](https://mlsanity.com/paper/2311.17089/) (2023)
- [SparseGS: Sparse View Synthesis using 3D Gaussian Splatting](https://mlsanity.com/paper/2312.00206/) (2023)
- [Hallucinated Neural Radiance Fields in the Wild](https://mlsanity.com/paper/2111.15246/) (2021)
- [CoR-GS: Sparse-View 3D Gaussian Splatting via Co-Regularization](https://mlsanity.com/paper/2405.12110/) (2024)
- [RobustNeRF: Ignoring Distractors with Robust Losses](https://mlsanity.com/paper/2302.00833/) (2023)
- [Grid-guided Neural Radiance Fields for Large Urban Scenes](https://mlsanity.com/paper/2303.14001/) (2023)
- [NeRF On-the-go: Exploiting Uncertainty for Distractor-free NeRFs in the Wild](https://mlsanity.com/paper/2405.18715/) (2024)

## Built on by (most cited first, 1 of 1)

- [Per-View Gaussian Predictions Enable Training-Free Distractor Filtering in Feed-Forward 3DGS](https://mlsanity.com/paper/2608.26951/) (2026)

## Abstract (arXiv)

While 3D Gaussian Splatting (3DGS) achieves real-time photorealistic rendering, its performance degrades significantly when training images contain transient objects that violate multi-view consistency. Existing methods face a circular dependency: accurate transient detection requires a well-reconstructed static scene, while clean reconstruction itself depends on reliable transient masks. We address this challenge with DualSplat, a Failure-to-Prior framework that converts first-pass reconstruction failures into explicit priors for a second reconstruction stage. We observe that transients, which appear in only a subset of views, often manifest as incomplete fragments during conservative initial training. We exploit these failures to construct object-level pseudo-masks by combining photometric residuals, feature mismatches, and SAM2 instance boundaries. These pseudo-masks then guide a clean second-pass 3DGS optimization, while a lightweight MLP refines them online by gradually shifting from prior supervision to self-consistency. Experiments on RobustNeRF and NeRF On-the-go show that DualSplat outperforms existing baselines, demonstrating particularly clear advantages in transient-heavy scenes and transient regions.