arxivcs.CV2026-06-29
Shell-Supervised Gaussian Splatting for Urban Real-to-Sim Reconstruction
Yuan Yang, Peijun Lu, Fangzhou Lu, Sai Fan, Siqi Yan, Chenyuan Zhang, et al.
Real-to-sim reconstruction for embodied AI requires geometry that is useful for collision reasoning, navigation, and agent-environment interaction, not only photorealistic novel-view synthesis. However, close-range urban facades are difficult for video-to-3D reconstruction: glass…