Rethinking Pose Refinement in 3D Gaussian Splatting under Pose Prior and Geometric Uncertainty
3D Gaussian Splatting (3DGS) has recently emerged as a powerful scene representation and is increasingly used for visual localization and pose refinement. However, despite its high-quality differentiable rendering, the robustness of 3DGS-based pose refinement remains highly sensitive to both the initial camera pose and the reconstructed geometry. In this work, we take a closer look at these limitations and identify two major sources of uncertainty: (i) pose prior uncertainty, which often arises from regression or retrieval models that output a single deterministic estimate, and (ii) geometric uncertainty, caused by imperfections in the 3DGS reconstruction that propagate errors into PnP so...
| Authors | Mangyu Kong, Jaewon Lee, Seongwon Lee et al. |
|---|---|
| Primary category | cs.CV |
| Published | 17 March 2026 |
| Last updated at source | 17 March 2026 |
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