Shell-Supervised Gaussian Splatting for Urban Real-to-Sim Reconstruction
Real-to-sim reconstruction for embodied AI requires geometry that is useful for collision reasoning, navigation, and agent-environment interaction, not only photorealistic novel-view synthesis. However, close-range urban facades are difficult for video-to-3D reconstruction: glass, reflections, repeated windows, and weak texture can produce visually plausible renderings with unstable surface geometry. We introduce shell-supervised Gaussian Splatting, a reconstruction-stage framework that uses an external facade structural shell as lightweight geometric supervision for video-driven Gaussian reconstruction. The method aligns an exterior shell to the video reconstruction frame, renders per-vi...
| Authors | Yuan Yang, Peijun Lu, Fangzhou Lu et al. |
|---|---|
| Primary category | cs.CV |
| Published | 29 June 2026 |
| Last updated at source | 29 June 2026 |
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