Volumetric RGB and normal rendering under the stochastic-solid formulation

Develop a fully volumetric rendering formulation for RGB colors and surface normals for Gaussian Splatting that uses the stochastic-solid attenuation model for Gaussian primitives, replacing rasterization-based approximations to further improve reconstruction accuracy while maintaining efficiency.

Background

In the proposed approach, volumetric rendering based on stochastic solids is employed for depth, while RGB and normal maps are still rendered using standard Gaussian Splatting approximations to preserve efficiency.

The authors explicitly state that extending the volumetric formulation to RGB and normal rendering is left for future work, and they expect it to improve accuracy beyond the current hybrid setup.