Large-Scale 3D Gaussian Splatting Papers

面向大规模场景的 3D Gaussian Splatting 论文清单：街道 / 驾驶、城市 / 航拍场景重建，以及 Feed-forward 4D Gaussian Splatting。

A curated list of 3D Gaussian Splatting works for large-scale scenes and feed-forward 4D reconstruction.

Last updated: 2026-09

Contents

• Large-Scale 3D Gaussian Splatting Papers
  • Contents
  • Surveys
  • Street & Driving Scenes
    • 2026
    • 2025
    • 2024
    • 2023
  • City & Aerial Scenes
    • 2026
    • 2025
    • 2024
  • Feed-forward 4D Gaussian Splatting
    • 2026
    • 2025
    • 2024
  • Perception, Simulation & Downstream
    • Simulation & Scene Generation
    • Perception & Scene Understanding
  • Codebases
  • Related Lists

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Surveys

• 3D Gaussian Splatting: Survey, Technologies, Challenges, and Opportunities TCSVT 2025 [paper]
• 3D Gaussian as a New Vision Era: A Survey [paper]
• Forging Vision Foundation Models for Autonomous Driving: Challenges, Methodologies, and Opportunities [paper]

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Street & Driving Scenes

动态城市场景 / 自动驾驶场景的 3DGS 重建与渲染（逐场景优化类）。feed-forward / 4D 类工作见 Feed-forward 4D Gaussian Splatting。

2026

• HDGS: Hierarchical Dynamic Gaussian Splatting for Urban Driving Scenes AAAI 2026 [paper]
• P2GS: Physical Prior-guided Gaussian Splatting for Photometrically Consistent Urban Reconstruction [paper]
• SPVC: Structured and Panoptic Video Fixing for Cross-Dataset Driving Scene Rendering [paper]
• NP-DeSiRe-GS: Neighborhood Planarity-Enhanced Gaussian Splatting for Robust Static-Dynamic Object Separation and Surface Alignment in Urban Scenes [paper]

2025

• BézierGS: Dynamic Urban Scene Reconstruction with Bézier Curve Gaussian Splatting ICCV 2025 [paper]
• UnIRe: Unsupervised Instance Decomposition for Dynamic Urban Scene Reconstruction [paper]
• DIAL-GS: Dynamic Instance Aware Reconstruction for Label-free Street Scenes with 4D Gaussian Splatting [paper]

2024

• DeSiRe-GS: 4D Street Gaussians for Static-Dynamic Decomposition and Surface Reconstruction for Urban Driving Scenes CVPR 2025 [paper] · [code]
• SplatAD: Real-Time Lidar and Camera Rendering with 3D Gaussian Splatting for Autonomous Driving CVPR 2025 [paper] · [project]
• SplatFlow: Self-Supervised Dynamic Gaussian Splatting in Neural Motion Flow Field for Autonomous Driving CVPR 2025 [paper]
• EMD: Explicit Motion Modeling for High-Quality Street Gaussian Splatting [paper] · [project]
• Extrapolated Urban View Synthesis Benchmark (EUVS) [paper] · [code] · [project]
• StreetSurfGS: Scalable Urban Street Surface Reconstruction with Planar-based Gaussian Splatting TCSVT 2025 [paper]
• FreeVS: Generative View Synthesis on Free Driving Trajectory CVPR 2025 [paper]
• DriveDreamer4D: World Models Are Effective Data Machines for 4D Driving Scene Representation CVPR 2025 [paper]
• GSPR: Multimodal Place Recognition Using 3D Gaussian Splatting for Autonomous Driving [paper] · [code]
• Drone-assisted Road Gaussian Splatting with Cross-view Uncertainty [paper] · [code] · [project]
• OmniRe: Omni Urban Scene Reconstruction [paper] · [code] · [project]
• DHGS: Decoupled Hybrid Gaussian Splatting for Driving Scene [paper] · [project]
• S3Gaussian: Self-Supervised Street Gaussians for Autonomous Driving [paper] · [code] · [project]
• 3D StreetUnveiler with Semantic-Aware 2DGS [paper] · [code] · [project]
• TCLC-GS: Tightly Coupled LiDAR-Camera Gaussian Splatting for Surrounding Autonomous Driving Scenes [paper]
• HGS-Mapping: Online Dense Mapping Using Hybrid Gaussian Representation in Urban Scenes [paper]
• SGD: Street View Synthesis with Gaussian Splatting and Diffusion Prior [paper]
• Street Gaussians: Modeling Dynamic Urban Scenes with Gaussian Splatting ECCV 2024 · TPAMI 2025 [paper] · [project]

2023

• DrivingGaussian: Composite Gaussian Splatting for Surrounding Dynamic Autonomous Driving Scenes CVPR 2024 [paper] · [project]
• Periodic Vibration Gaussian: Dynamic Urban Scene Reconstruction and Real-time Rendering IJCV 2026 [paper] · [code] · [project]

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City & Aerial Scenes

静态大场景 / 城市级 / 航拍场景的可扩展重建、表示与实时渲染。

2026

• Atlas: Algorithm-Hardware Co-Design for On-Device City-Scale 3D Gaussian Splatting in VR [paper]
• STARS-GS: Structure-Aware Regularized Gaussian Splatting for Large-Scale Aerial Surface Reconstruction [paper]
• InceptionGS: Generative Bootstrapping for Large-Scale Gaussian Splatting under Unstructured View Sampling [paper]
• CaT-GS: Efficient 3DGS Rendering for Large Scale Scenes via Inter-frame Caching and Tile Scheduling [paper]
• A LoD of Gaussians: Out-of-Core Training and Rendering for Seamless Ultra-Large Scene Reconstruction SIGGRAPH 2026 [paper]
• BlitzGS: City-Scale Gaussian Splatting at Lightning Speed [paper]
• City-Mesh3R: Simulation-Ready City-Scale 3D Mesh Reconstruction from Multi-View Images [paper]
• City-Level 3D Surface Reconstruction with Viewpoint Orientation Partitioning and Scene Completion [paper]
• A Scalable PyTorch Abstraction for Multi-GPU Gaussian Splatting [paper]
• CoSurfGS: 3D Surface Gaussian Splatting with Collaborative Distributed Learning for Large-scale Scene Reconstruction IJCV [paper]

2025

• CityGS-X: A Scalable Architecture for Efficient and Geometrically Accurate Large-Scale Scene Reconstruction ICCV 2025 [paper]
• GigaSLAM: Large-Scale Monocular SLAM with Hierarchical Gaussian Splats ACM MM 2025 [paper]
• HUG: Hierarchical Urban Gaussian Splatting with Block-Based Reconstruction for Large-Scale Aerial Scenes ICCV 2025 [paper]
• On-the-fly Reconstruction for Large-Scale Novel View Synthesis from Unposed Images TOG 2025 [paper]
• LVT: Large-Scale Scene Reconstruction via Local View Transformers ACM MM 2025 [paper]
• CityGo: Lightweight Urban Modeling and Rendering with Proxy Buildings and Residual Gaussians ACM MM 2025 [paper]

2024

• GaussianCity: Generative Gaussian Splatting for Unbounded 3D City Generation CVPR 2025 [paper] · [code] · [project]

• Horizon-GS: Unified 3D Gaussian Splatting for Large-Scale Aerial-to-Ground Scenes CVPR 2025 [paper] · [project]

• ULSR-GS: Ultra Large-scale Surface Reconstruction Gaussian Splatting with Multi-View Geometric Consistency ISPRS J. 2025 [paper] · [project]

• CityGaussianV2: Efficient and Geometrically Accurate Reconstruction for Large-Scale Scenes ICLR 2025 [paper]

• FlashGS: Efficient 3D Gaussian Splatting for Large-scale and High-resolution Rendering CVPR 2025 [paper]

• On Scaling Up 3D Gaussian Splatting Training ECCV 2024 [paper]

• CityGaussian: Real-time High-quality Large-Scale Scene Rendering with Gaussians ECCV 2024 [paper] · [project]

• Octree-GS: Towards Consistent Real-time Rendering with LOD-Structured 3D Gaussians TPAMI 2025 [paper]

• HO-Gaussian: Hybrid Optimization of 3D Gaussian Splatting for Urban Scenes [paper]

• GaussianPro: 3D Gaussian Splatting with Progressive Propagation [paper] · [code] · [project]

• VastGaussian: Vast 3D Gaussians for Large Scene Reconstruction CVPR 2024 [paper] · [project]

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Feed-forward 4D Gaussian Splatting

feed-forward / 泛化式重建（含 4D Gaussian Splatting）：无需逐场景优化即可前馈预测高斯场，是大规模动态场景的可扩展方向。

2026

• ReconDrive: Fast Feed-Forward 4D Gaussian Splatting for Autonomous Driving Scene Reconstruction [paper]
• DynamicVGGT: Learning Dynamic Point Maps for 4D Scene Reconstruction in Autonomous Driving [paper]
• EVolSplat4D: Efficient Volume-based Gaussian Splatting for 4D Urban Scene Synthesis [paper]
• Envision4D: Envisioning Visual Futures via Feed-forward 4D Gaussian Splatting for Autonomous Driving [paper]
• Instant NuRec: Feed-Forward 3D Gaussian Reconstruction for Driving Scene Simulation [paper]
• PointForward: Feedforward Driving Reconstruction through Point-Aligned Representations [paper]
• Visual Geometry Foundation-Aware Gaussians for Single-Frame Surround-View Driving Reconstruction [paper]
• ConFixGS: Learning to Fix Feedforward 3D Gaussian Splatting with Confidence-Aware Diffusion Priors in Driving Scenes [paper]
• L2D2-GS: Learning to Densify for Feedforward Dynamic Gaussian Scene Reconstruction [paper]
• FRUC: Feedforward Dynamic Scene Reconstruction from Uncalibrated Collaborative Driving Views [paper]
• Genie 4D: Semantic-Prior-Guided 4D Dynamic Scene Reconstruction [paper]
• No Pose, No Problem in 4D: Feed-Forward Dynamic Gaussians from Unposed Multi-View Videos [paper]
• Implicit 4D Gaussian Splatting for Fast Motion with Large Inter-Frame Displacements [paper]

2025

• AnySplat: Feed-forward 3D Gaussian Splatting from Unconstrained Views TOG 2025 [paper]

2024

• DrivingForward: Feed-forward 3D Gaussian Splatting for Driving Scene Reconstruction from Flexible Surround-view Input AAAI 2025 [paper] · [code] · [project]
• L4GM: Large 4D Gaussian Reconstruction Model [paper]
• GGRt: Towards Pose-free Generalizable 3D Gaussian Splatting in Real-time ECCV 2024 [paper] · [code] · [project]

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Perception, Simulation & Downstream

建立在大场景 3DGS 之上的仿真、生成与场景理解工作。

Simulation & Scene Generation

• HUGSIM: A Real-Time, Photo-Realistic and Closed-Loop Simulator for Autonomous Driving TPAMI 2025 [paper] · [code] · [project]
• DrivingSphere: Building a High-fidelity 4D World for Closed-loop Simulation CVPR 2025 [paper]
• UniScene: Unified Occupancy-centric Driving Scene Generation CVPR 2025 [paper]
• MagicDrive3D: Controllable 3D Generation for Any-View Rendering in Street Scenes WACV 2026 [paper] · [code] · [project]
• Real2Sim: A Physics-driven and Editable Gaussian Splatting Framework for Autonomous Driving Scenes [paper]
• Cam2Sim: Neural Scenario Reconstruction for Closed-Loop Autonomous Driving Simulation [paper]

Perception & Scene Understanding

• GaussianFormer: Scene as Gaussians for Vision-Based 3D Semantic Occupancy Prediction ECCV 2024 [paper] · [code]
• GaussianBeV: 3D Gaussian Representation meets Perception Models for BeV Segmentation WACV 2025 [paper]
• HUGS: Holistic Urban 3D Scene Understanding via Gaussian Splatting [paper] · [project]

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Codebases

• 3D Gaussian Splatting (original)
• GauStudio: A Modular Framework for 3D Gaussian Splatting and Beyond
• gsplat: A CUDA-accelerated 3DGS rasterizer / training library

Related Lists

• awesome-3D-gaussian-splatting

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