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GrapeSplat: Geometry-Grounded Reconstruction via Amalgamated Pose-Free Encoding for Feed-Forward 3D Gaussian Splatting

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

Feed-forward 3D Gaussian Splatting now reconstructs renderable scenes from unposed, uncalibrated images. Yet, most models supervise only photometric consistency and predict Gaussians pixel by pixel, which leaves global structure fragile and ties primitive count to image resolution and view count. To this end, GrapeSplat amalgamates multi-view cues into a voxel-aligned scene representation and decodes Gaussians directly from the learned grid, requiring no per-scene optimization or post-processing. An Atlas Encoder lifts all views into pixel-wise geometry-and-appearance features anchored at pred

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