F3DGS: Federated 3D Gaussian Splatting for Decentralized Multi-Agent World Modeling
We present F3DGS, a federated 3D Gaussian Splatting framework for decentralized multi-agent 3D reconstruction. Existing 3DGS pipelines assume centralized access to all observations, which limits their applicability in distributed robotic settings where agents operate independently, and centralized data aggregation may be restricted. Directly extending centralized training to multi-agent systems introduces communication overhead and geometric inconsistency. F3DGS first constructs a shared geometric scaffold by registering locally merged LiDAR point clouds from multiple clients to initialize a global 3DGS model. During federated optimization, Gaussian positions are fixed to preserve geometr...
| Authors | Morui Zhu, Mohammad Dehghani Tezerjani, Mátyás Szántó et al. |
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| Primary category | cs.CV |
| Published | 2 April 2026 |
| Last updated at source | 2 April 2026 |
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