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arXiv · 2606.26007

From Sparse and Imperfect 2D Anchors to Consistent 3D Gaussian Street Scenes: Support-Aware Appearance

Long Cao·Zhongquan Wang·Jie Li·Yuhan Chen·Kefei Qian·Xiangfei Huang·Guofa Li
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Abstract

Image priors can synthesize target conditions for 3D Gaussian street scenes, but independently edited views do not define a coherent 3D target. Direct fitting can propagate view-specific noise, while existing pipelines do not jointly handle imperfect sparse anchors and standard-rasterizer deployment. To address this gap, teacher-relative appearance residual distillation is introduced for appearance baking. A structured space for frequency decomposition, confidence estimation, and primitive-level lifting is formed by residuals between teacher anchors and original renders. The direct optimization signal is supplied by renderer-space matching, while primitive assignment is regularized by support-aware Gaussian-space aggregation. Supported detail is admitted and unsupported noise is suppressed through confidence-gated coarse-to-fine optimization, after which all residuals are baked into fixed-geometry spherical-harmonic coefficients. The teacher and auxiliary training modules are discarded at inference. Evaluation across Waymo street assets, Tanks and Temples scenes, and multiple target conditions shows a favorable overall balance of target alignment, content preservation, artifact suppression, and cross-view consistency over editing-based baselines. Ablations confirm the effectiveness of the main components. Code will be released at https://github.com/Cagares/Baking-for-3D-Gaussian.

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Long Cao, Zhongquan Wang, Jie Li, Yuhan Chen, Kefei Qian, Xiangfei Huang, Guofa Li. 2026-06-24. From Sparse and Imperfect 2D Anchors to Consistent 3D Gaussian Street Scenes: Support-Aware Appearance. https://arxiv.org/abs/2606.26007

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