SCube: Instant Large-Scale Scene Reconstruction using VoxSplats,Yifan Lu

We present SCube, a novel method for reconstructing large-scale 3D scenes (geometry, appearance, and semantics) from a sparse set of posed images. Our method encodes reconstructed scenes using a novel representation VoxSplat, which is a set of 3D Gaussians supported on a high-resolution sparse-voxel scaffold. To reconstruct a VoxSplat from images, we employ a hierarchical voxel latent diffusion model conditioned on the input images followed by a feedforward appearance prediction model. The diffusion model generates high-resolution grids progressively in a coarse-to-fine manner, and the appearance network predicts a set of Gaussians within each voxel.