SG-Splat: Stable Geometry Learning under Pose Uncertainty for Pose-Free 3D Gaussian Splatting

Abstract

3D Gaussian Splatting (3DGS) has become a promising representation for real-time novel view synthesis and 3D scene reconstruction. For practical deployment, recent studies have explored pose-free feed-forward 3DGS, which reconstructs Gaussian representations directly from unposed input images. However, these methods remain sensitive to residual pose errors, which perturb canonical-space Gaussian transformation, introducing noisy supervision for geometry and attribute learning. To address this problem, we present SG-Splat, a pose-free feed-forward 3DGS framework that improves robustness to pose uncertainty and stabilizes the learning of Gaussian primitives. SG-Splat decouples geometry estimation and Gaussian attribute prediction into two dedicated branches, reducing error coupling between pose-sensitive geometry and Gaussian attributes. We further introduce a coarse-to-fine refinement pipeline, consisting of Flow-Guided Pose Refinement (FGPR) and Residual-Guided Geometry Correction (RGC), to improve geometric alignment before Gaussian attribute reconstruction. Specifically, FGPR refines camera poses with flow-based correlation features and differentiable bundle adjustment. RGC then corrects initial point maps using depth residuals derived from FGPR, producing more reliable Gaussian centers. To stabilize training, we introduce a dual-path strategy that mixes ground-truth and predicted poses for canonical transformation. It provides clean supervision for Gaussian attributes while improving geometry robustness to residual pose errors. Extensive experiments on DL3DV and RealEstate10K show that SG-Splat achieves state-of-the-art performance in both novel view synthesis and pose estimation.