iGaussian: Real-Time Camera Pose Estimation via Feed-Forward 3D Gaussian Splatting Inversion

• URL: http://arxiv.org/abs/2511.14149v1
• Date: Tue, 18 Nov 2025 05:22:22 GMT
• Title: iGaussian: Real-Time Camera Pose Estimation via Feed-Forward 3D Gaussian Splatting Inversion
• Authors: Hao Wang, Linqing Zhao, Xiuwei Xu, Jiwen Lu, Haibin Yan,
• Abstract summary: iGaussian is a two-stage feed-forward framework that achieves real-time camera pose estimation through direct 3D Gaussian inversion.<n> Experimental results on the NeRF Synthetic, Mip-NeRF 360, and T&T+DB datasets demonstrate a significant performance improvement over previous methods.
• Score: 62.09575122593993
• License: http://creativecommons.org/licenses/by-nc-nd/4.0/
• Abstract: Recent trends in SLAM and visual navigation have embraced 3D Gaussians as the preferred scene representation, highlighting the importance of estimating camera poses from a single image using a pre-built Gaussian model. However, existing approaches typically rely on an iterative \textit{render-compare-refine} loop, where candidate views are first rendered using NeRF or Gaussian Splatting, then compared against the target image, and finally, discrepancies are used to update the pose. This multi-round process incurs significant computational overhead, hindering real-time performance in robotics. In this paper, we propose iGaussian, a two-stage feed-forward framework that achieves real-time camera pose estimation through direct 3D Gaussian inversion. Our method first regresses a coarse 6DoF pose using a Gaussian Scene Prior-based Pose Regression Network with spatial uniform sampling and guided attention mechanisms, then refines it through feature matching and multi-model fusion. The key contribution lies in our cross-correlation module that aligns image embeddings with 3D Gaussian attributes without differentiable rendering, coupled with a Weighted Multiview Predictor that fuses features from Multiple strategically sampled viewpoints. Experimental results on the NeRF Synthetic, Mip-NeRF 360, and T\&T+DB datasets demonstrate a significant performance improvement over previous methods, reducing median rotation errors to 0.2° while achieving 2.87 FPS tracking on mobile robots, which is an impressive 10 times speedup compared to optimization-based approaches. Code: https://github.com/pythongod-exe/iGaussian

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