Stereo-GS: Online 3D Gaussian Splatting Mapping Using Stereo Depth Estimation Article Swipe
Park Jun-Kyu
,
Byeong-Gwon Lee
,
Sanggi Lee
,
Soo-hwan Song
·
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.3390/electronics14224436
YOU?
·
· 2025
· Open Access
·
· DOI: https://doi.org/10.3390/electronics14224436
We present Stereo-GS, a real-time system for online 3D Gaussian Splatting (3DGS) that reconstructs photorealistic 3D scenes from streaming stereo pairs. Unlike prior offline 3DGS methods that require dense multi-view input or precomputed depth, Stereo-GS estimates metrically accurate depth maps directly from rectified stereo geometry, enabling progressive, globally consistent reconstruction. The frontend combines a stereo implementation of DROID-SLAM for robust tracking and keyframe selection with FoundationStereo, a generalizable stereo network that needs no scene-specific fine-tuning. A two-stage filtering pipeline improves depth reliability by removing outliers using a variance-based refinement filter followed by a multi-view consistency check. In the backend, we selectively initialize new Gaussians in under-represented regions flagged by low PSNR during rendering and continuously optimize them via differentiable rendering. To maintain global coherence with minimal overhead, we apply a lightweight rigid alignment after periodic bundle adjustment. On EuRoC and TartanAir, Stereo-GS attains state-of-the-art performance, improving average PSNR by 0.22 dB and 2.45 dB over the best baseline, respectively. Together with superior visual quality, these results show that Stereo-GS delivers high-fidelity, geometrically accurate 3D reconstructions suitable for real-time robotics, navigation, and immersive AR/VR applications.
Related Topics
Concepts
Computer science
Artificial intelligence
Graphics pipeline
Computer vision
Rendering (computer graphics)
Outlier
Monocular
Gaussian
Stereo cameras
Gaussian filter
Bundle adjustment
Pipeline (software)
Epipolar geometry
View synthesis
Stereoscopy
3D reconstruction
Filter (signal processing)
Computer graphics (images)
Retargeting
Depth map
Consistency (knowledge bases)
Differentiable function
Bilateral filter
Coherence (philosophical gambling strategy)
Gaussian process
2D to 3D conversion
Cut
Stereo display
Gaussian blur
Stereo camera
Metadata
- Type
- article
- Language
- en
- Landing Page
- https://doi.org/10.3390/electronics14224436
- OA Status
- gold
- References
- 36
- OpenAlex ID
- https://openalex.org/W7105693978
All OpenAlex metadata
Raw OpenAlex JSON
- OpenAlex ID
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https://openalex.org/W7105693978Canonical identifier for this work in OpenAlex
- DOI
-
https://doi.org/10.3390/electronics14224436Digital Object Identifier
- Title
-
Stereo-GS: Online 3D Gaussian Splatting Mapping Using Stereo Depth EstimationWork title
- Type
-
articleOpenAlex work type
- Language
-
enPrimary language
- Publication year
-
2025Year of publication
- Publication date
-
2025-11-14Full publication date if available
- Authors
-
Park Jun-Kyu, Byeong-Gwon Lee, Sanggi Lee, Soo-hwan SongList of authors in order
- Landing page
-
https://doi.org/10.3390/electronics14224436Publisher landing page
- Open access
-
YesWhether a free full text is available
- OA status
-
goldOpen access status per OpenAlex
- OA URL
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https://doi.org/10.3390/electronics14224436Direct OA link when available
- Concepts
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Computer science, Artificial intelligence, Graphics pipeline, Computer vision, Rendering (computer graphics), Outlier, Monocular, Gaussian, Stereo cameras, Gaussian filter, Bundle adjustment, Pipeline (software), Epipolar geometry, View synthesis, Stereoscopy, 3D reconstruction, Filter (signal processing), Computer graphics (images), Retargeting, Depth map, Consistency (knowledge bases), Differentiable function, Bilateral filter, Coherence (philosophical gambling strategy), Gaussian process, 2D to 3D conversion, Cut, Stereo display, Gaussian blur, Stereo cameraTop concepts (fields/topics) attached by OpenAlex
- Cited by
-
0Total citation count in OpenAlex
- References (count)
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36Number of works referenced by this work
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| publication_date | 2025-11-14 |
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