GS-CPE: Unified 6-Degree-of-Freedom Camera Pose Estimation via 3D Gaussian Splatting

arXiv:2608.10938v1 Announce Type: new Abstract: Despite substantial progress in visual localization, from scene coordinate regression to direct camera pose regression, achieving both robust generalization and high accuracy remain challenging. This study introduces GS-CPE (Gaussian Splatting based Camera Pose Estimation), a coarse-to-fine framework for 6-DoF camera pose estimation that unifies geometry-based coarse pose estimation with robust 3D Gaussian Splatting (3DGS) warping based pose refinement. GS-CPE first estimates a coarse pose via retrieval-guided geometric pose estimation on a 3DGS scene representation, then refines it by minimizing a visibility aware masked RGB warping objective in a multi-scale optimization framework, with adaptive re-rendering. Extensive experiments on indoor and outdoor benchmarks including 7Scenes, Cambridge Landmarks, FAST-LIVO2 datasets, and a custom dataset demonstrate state-of-the-art performance, consistently outperforming in both accuracy and generalization.

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Source: arXiv cs.CV | 2026-08-12