# Dynamic Thermal Gaussians: Multimodal 4D Gaussian Splatting

arXiv: https://arxiv.org/abs/2609.24531 · HTML: https://mlsanity.com/paper/2609.24531/

## Key facts

- No citing papers in the map yet (data through 14 Oct 2026).
- Builds on 18 of its 43 references that are in the map.
- First posted on arXiv 21 Sep 2026.

## Builds on (most cited first, 18 of 18)

- [3D Gaussian Splatting for Real-Time Radiance Field Rendering](https://mlsanity.com/paper/2308.04079/) (2023)
- [Categorical Reparameterization with Gumbel-Softmax](https://mlsanity.com/paper/1611.01144/) (2016)
- [Nerfies: Deformable Neural Radiance Fields](https://mlsanity.com/paper/2011.12948/) (2020)
- [4D Gaussian Splatting for Real-Time Dynamic Scene Rendering](https://mlsanity.com/paper/2310.08528/) (2023)
- [Deformable 3D Gaussians for High-Fidelity Monocular Dynamic Scene Reconstruction](https://mlsanity.com/paper/2309.13101/) (2023)
- [Real-time Photorealistic Dynamic Scene Representation and Rendering with 4D Gaussian Splatting](https://mlsanity.com/paper/2310.10642/) (2023)
- [HyperReel: High-Fidelity 6-DoF Video with Ray-Conditioned Sampling](https://mlsanity.com/paper/2301.02238/) (2023)
- [textitS3Gaussian: Self-Supervised Street Gaussians for Autonomous Driving](https://mlsanity.com/paper/2405.20323/) (2024)
- [Nonuniform-to-Uniform Quantization: Towards Accurate Quantization via Generalized Straight-Through Estimation](https://mlsanity.com/paper/2111.14826/) (2021)
- [MEGA: Memory-Efficient 4D Gaussian Splatting for Dynamic Scenes](https://mlsanity.com/paper/2410.13613/) (2024)
- [NTO3D: Neural Target Object 3D Reconstruction with Segment Anything](https://mlsanity.com/paper/2309.12790/) (2023)
- [ThermalGaussian: Thermal 3D Gaussian Splatting](https://mlsanity.com/paper/2409.07200/) (2024)
- [ManipDreamer3D : Synthesizing Plausible Robotic Manipulation Video with Occupancy-aware 3D Trajectory](https://mlsanity.com/paper/2509.05314/) (2025)
- [ParkGaussian: Surround-view 3D Gaussian Splatting for Autonomous Parking](https://mlsanity.com/paper/2601.01386/) (2026)
- [TextSplat: Text-Guided Semantic Fusion for Generalizable Gaussian Splatting](https://mlsanity.com/paper/2504.09588/) (2025)
- [VGNC: Reducing the Overfitting of Sparse-view 3DGS via Validation-guided Gaussian Number Control](https://mlsanity.com/paper/2504.14548/) (2025)
- [MMOne: Representing Multiple Modalities in One Scene](https://mlsanity.com/paper/2507.11129/) (2025)
- [RoboArmGS: High-Quality Robotic Arm Splatting via B'ezier Curve Refinement](https://mlsanity.com/paper/2511.17961/) (2025)

## Abstract (arXiv)

Thermography plays a vital role in military and broader thermal analysis applications. Recent progress in 3D thermal reconstruction has extended temperature analysis from 2D to 3D space, yet most existing works assume static temperature distributions, neglecting the temporal dynamics of heat transfer in real-world environments. To address this limitation, we propose the first dynamic RGB-Thermal reconstruction framework for complex scenes. Our method jointly models RGB appearance, thermal observations, and scene geometry as they change over time. Specifically, we introduce a multimodal dynamic scene representation that anchors both the color and thermal modalities to a shared geometric substrate, ensuring their consistency under spatiotemporal deformations. We further design multimodal embeddings to enhance the motion expressiveness for each modality, and propose a multimodal routing mechanism that retains a unified set of shared multimodal Gaussians as the geometric backbone while adaptively spawning modality-specific Gaussians to strengthen the representational capacity in detail-rich regions of each individual modality. In addition, we contribute a novel benchmark dataset featuring high-frequency temperature variations to facilitate the evaluation of 4D reconstruction. Extensive experiments demonstrate that our method achieves high-fidelity spatiotemporal reconstruction of both appearance and temperature. Our code and dataset are available at: https://github.com/LinLif1869/DTG.