ReCoSplat: Online Feed-Forward Gaussian Splatting via Render-and-Compare
Online novel view synthesis requires a model to reconstruct a scene causally from a stream of observations while keeping it renderable at every moment. We present ReCoSplat, an online feed-forward Gaussian Splatting model supporting both posed and unposed inputs, with or without camera intrinsics. While assembling local Gaussians with camera poses scales better than canonical-space prediction, stable training requires ground-truth poses, creating a distribution mismatch when predicted poses are used at inference. To address this, we introduce a Render-and-Compare (ReCo) module. ReCo renders the accumulated scene from the viewpoint of the incoming observation, comparing the render with the...
| Authors | Freeman Cheng, Botao Ye, Xueting Li et al. |
|---|---|
| Primary category | cs.CV |
| Published | 10 March 2026 |
| Last updated at source | 2 September 2026 |
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