OnlineSplatter: Pose-Free Online 3D Reconstruction for Free-Moving Objects
Free-moving object reconstruction from monocular video remains challenging, particularly without reliable pose or depth cues and under arbitrary object motion. We introduce OnlineSplatter, a novel online feed-forward framework generating high-quality, object-centric 3D Gaussians directly from RGB frames without requiring camera pose, depth priors, or bundle optimization. Our approach anchors reconstruction using the first frame and progressively refines the object representation through a dense Gaussian primitive field, maintaining constant computational cost regardless of video sequence length. Our core contribution is a dual-key memory module combining latent appearance-geometry keys with explicit directional keys, robustly fusing current frame features with temporally aggregated object states. This design enables effective handling of free-moving objects via spatial-guided memory readout and an efficient sparsification mechanism, ensuring comprehensive yet compact object coverage. Evaluations on real-world datasets demonstrate that OnlineSplatter significantly outperforms state-of-the-art pose-free reconstruction baselines, consistently improving with more observations while maintaining constant memory and runtime.
Code (0)
등록된 구현이 없습니다.
Tasks
3D ReconstructionSimilar Papers 제목 키워드 기반
3D Shape Reconstruction from Free-Hand Sketches
Sketches are the most abstract 2D representations of real-world objects. Although a sketch usually has geometrical distortion and lacks visual cues, humans can effortlessly envision a 3D object from it. This suggests tha…
3D Reconstruction3D Shape ReconstructionOptimization code with weighting function for the reconstruction of coronal magnetic fields
We developed a code for the reconstruction of nonlinear force-free and non-force-free coronal magnetic fields. The 3D magnetic field is computed numerically with the help of an optimization principle. The force-free and …
Neural reconstruction of 3D ocean wave hydrodynamics from camera sensing
Precise three-dimensional (3D) reconstruction of wave free surfaces and associated velocity fields is essential for developing a comprehensive understanding of ocean physics. To address the high computational cost of den…
3D ReconstructionSelf Context and Shape Prior for Sensorless Freehand 3D Ultrasound Reconstruction
3D ultrasound (US) is widely used for its rich diagnostic information. However, it is criticized for its limited field of view. 3D freehand US reconstruction is promising in addressing the problem by providing broad rang…
DiagnosticSelf-Supervised LearningOn-the-fly Large-scale 3D Reconstruction from Multi-Camera Rigs
Recent advances in 3D Gaussian Splatting (3DGS) have enabled efficient free-viewpoint rendering and photorealistic scene reconstruction. While on-the-fly extensions of 3DGS have shown promise for real-time reconstruction…
3D Reconstruction