GS-Octree: Octree-based 3D Gaussian Splatting for Robust Object-level 3D Reconstruction Under Strong Lighting (2406.18199v1)

Abstract: The 3D Gaussian Splatting technique has significantly advanced the construction of radiance fields from multi-view images, enabling real-time rendering. While point-based rasterization effectively reduces computational demands for rendering, it often struggles to accurately reconstruct the geometry of the target object, especially under strong lighting. To address this challenge, we introduce a novel approach that combines octree-based implicit surface representations with Gaussian splatting. Our method consists of four stages. Initially, it reconstructs a signed distance field (SDF) and a radiance field through volume rendering, encoding them in a low-resolution octree. The initial SDF represents the coarse geometry of the target object. Subsequently, it introduces 3D Gaussians as additional degrees of freedom, which are guided by the SDF. In the third stage, the optimized Gaussians further improve the accuracy of the SDF, allowing it to recover finer geometric details compared to the initial SDF obtained in the first stage. Finally, it adopts the refined SDF to further optimize the 3D Gaussians via splatting, eliminating those that contribute little to visual appearance. Experimental results show that our method, which leverages the distribution of 3D Gaussians with SDFs, reconstructs more accurate geometry, particularly in images with specular highlights caused by strong lighting.

• The paper introduces GS-Octree, which integrates octree-based implicit surfaces with optimized 3D Gaussian splatting to address reconstruction challenges under strong lighting.
• It employs a four-stage process that refines a coarse SDF into detailed geometry through progressive Gaussian optimization and octree subdivision.
• Experimental results demonstrate lower Chamfer Distance, high PSNR, and real-time rendering speeds, outperforming methods like NeuS2 and Voxurf.

GS-Octree: Octree-based 3D Gaussian Splatting for Robust Object-level 3D Reconstruction Under Strong Lighting

The paper "GS-Octree: Octree-based 3D Gaussian Splatting for Robust Object-level 3D Reconstruction Under Strong Lighting" introduces a novel approach to overcome the challenges associated with accurate 3D reconstruction under strong lighting conditions. This work combines octree-based implicit surface representations with Gaussian splatting to achieve high-quality 3D reconstructions and real-time rendering capabilities.

Methodology

The proposed method, GS-Octree, is structured into four distinct stages:

1. Initial Octree Construction: The initial stage involves reconstructing a signed distance field (SDF) and a radiance field through volume rendering, encoded within a low-resolution octree. This encodes coarse geometry and basic radiance information of the target object.
2. Gaussian Initialization and Optimization: 3D Gaussians are introduced as additional degrees of freedom, guided by the SDF. These Gaussians are optimized through a process of point splatting, improving the initial SDF's ability to accurately reflect finer geometric details.
3. Refinement of SDF with Gaussian Points: The optimized Gaussians help further refine the octree's SDF; this stage involves subdividing the octree to higher resolutions and leveraging Gaussian point data to enhance SDF accuracy, effectively reducing geometry reconstruction artifacts caused by specular highlights.
4. Final Optimization of 3D Gaussians: The refined SDF is then used to further optimize the 3D Gaussians. This step includes eliminating Gaussians that contribute minimally to visual quality, thereby optimizing computational efficiency and reducing redundant data.

Throughout these stages, the method leverages various regularization terms, such as a singular-Hessian loss, to prevent the SDF from falling into local minima and to smooth surfaces without compromising geometric detail.

Results

The experimental outcomes demonstrate that GS-Octree achieves notable improvements in both geometry reconstruction quality and rendering efficiency. It outperforms alternative techniques, particularly under conditions of strong lighting, where conventional methods like NeuS2 and Voxurf show significant degradation due to specular highlights.

Quantitative metrics indicate that GS-Octree achieves lower Chamfer Distance (CD) values, superior preserving geometric accuracy. Importantly, the rendered images maintain high PSNR values while achieving real-time rendering speeds (measured in frames per second, FPS). This is a crucial advantage over methods such as SuGaR, 2DGS, and GOF, which either struggle with rendering speed or fail to maintain high geometric accuracy under challenging lighting conditions.

Implications and Future Directions

The implications of this research are twofold:

1. Practical Applications: The robustness of GS-Octree under strong lighting conditions makes it highly applicable to real-world scenarios where accurate 3D reconstruction and real-time rendering are paramount, such as in augmented reality, virtual inspections, and autonomous navigation systems.
2. Theoretical Advances: This hybrid approach of leveraging octree structures alongside Gaussian splatting opens new possibilities for enhancing the computational efficiency and accuracy of neural implicit surfaces. The method's ability to avoid neural network-based pitfalls, such as extended training times, represents a significant step forward in 3D vision technology.

Speculation on Future Developments

The success of GS-Octree suggests several intriguing directions for future developments:

• Scalability Enhancements: Extending this method to large-scale scene reconstructions while maintaining real-time performance and geometric fidelity could be highly beneficial.
• Further Integration with Machine Learning: While avoiding neural networks provides speed benefits, incorporating lightweight neural modules could potentially enhance SDF reconstruction quality without significant computational overhead.
• Enhanced Regularization Techniques: While the singular-Hessian loss is effective, exploring additional regularization mechanisms could further improve surface detail preservation and robustness against noisy data.

In summary, GS-Octree presents a compelling approach to 3D reconstruction under adverse lighting conditions, blending traditional and innovative methods to deliver precise, efficient, and practically viable solutions. The paper sets a solid foundation for future advancements in real-time 3D vision systems.