Ground4D: Consistency-Aware 4D Reconstruction from Monocular Video

• URL: http://arxiv.org/abs/2606.28828v1
• Date: Sat, 27 Jun 2026 09:27:42 GMT
• Title: Ground4D: Consistency-Aware 4D Reconstruction from Monocular Video
• Abstract summary: We propose Ground4D, a geometry-grounded framework built on two stages.<n>First, we reconstruct multi-view-consistent 3D geometry and camera poses from monocular video.<n>Second, we conduct geometry-consistency-aware refinement via dynamic Gaussian Splatting.
• Score: 69.94904173314505
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Learning a 4D scene representation from a single monocular video that supports dynamic novel-view synthesis while maintaining faithful geometry over time remains challenging. Dynamic Gaussian Splatting achieves strong rendering performance through photometric optimization, yet does not explicitly enforce multi-view geometric consistency. In contrast, 3D foundation models recover coherent scene geometry and camera motion, but their point-based outputs are not designed for photorealistic rendering. We propose Ground4D, a geometry-grounded framework built on two stages. First, we perform geometry initialization via 3D foundation models, leveraging VGGT in a training-free manner to reconstruct multi-view-consistent 3D geometry and camera poses from monocular video. The recovered geometry provides a structured and reliable initialization for dynamic Gaussian representations. Second, we conduct geometry-consistency-aware refinement via dynamic Gaussian Splatting, optimizing the representation through differentiable rendering while maintaining multi-view geometric consistency across both observed and synthesized viewpoints. Furthermore, Ground4D inherently models the continuous 4D dynamics of the scene, naturally supporting rendering at arbitrary timestamps. By integrating foundation-level geometric priors into dynamic Gaussian optimization, Ground4D achieves stronger reconstruction fidelity and rendering performance, underscoring the role of geometry-grounded constraints in robust 4D scene modeling.

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