壳监督高斯溅射用于城市真实到仿真重建
Shell-Supervised Gaussian Splatting for Urban Real-to-Sim Reconstruction
AI总结：
提出壳监督高斯溅射框架，利用外部立面结构壳作为几何监督，通过掩码门控损失优化高斯重建，提升城市立面几何一致性。
摘要：
具身AI的真实到仿真重建需要几何信息用于碰撞推理、导航和智能体-环境交互，而不仅仅是照片级真实感的新视角合成。然而，近距离城市立面对于视频到3D重建具有挑战性：玻璃、反射、重复窗户和弱纹理可能产生视觉上合理的渲染但表面几何不稳定。我们引入壳监督高斯溅射，一种重建阶段框架，使用外部立面结构壳作为轻量级几何监督，用于视频驱动的高斯重建。该方法将外部壳与视频重建帧对齐，渲染每视图深度、相机空间法线和有效掩码图，并通过掩码门控损失在高斯优化过程中应用这些线索。这种设计保留了RGB驱动的外观，同时仅正则化可见的壳支持立面区域。在匿名化的近距离城市立面场景上的实验表明，与仅照片、单目线索和面向表面的高斯基线相比，立面方向和可见表面点云一致性得到改善，同时保持相当的保留渲染质量。
英文摘要：
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-view depth, camera-space normal, and valid-mask maps, and applies these cues through mask-gated losses during Gaussian optimization. This design preserves RGB-driven appearance while regularizing only visible shell-supported facade regions. Experiments on anonymized close-range urban facade scenes show improved facade orientation and visible-surface point-cloud consistency over photo-only, monocular-cue, and surface-oriented Gaussian baselines, while maintaining comparable held-out rendering quality.
机构、总结、中文摘要均由AI分析而来，可能存在错误，请以论文正文为准。
