CF-Splat turns triangle-splatting appearance estimation into a closed-form linear least-squares solve

zhenjun_zhao · x · 2026-10-17

• Motivation: Existing splatting radiance-field methods rely on iterative nonlinear optimization over millions of coupled parameters — slow, GPU-memory heavy, and prone to local minima.
• Key insight: Given known mesh geometry and calibrated cameras, rendered pixel colors are linear in per-vertex spherical harmonic (SH) coefficients, so multi-view appearance estimation becomes a global linear least-squares (LLS) problem with no iterative optimization.
• Design: Adaptive SH regularization constrains under-supported high-order coefficients for a unique global minimizer; a triangle-structured matrix-free preconditioned conjugate-gradient solver scales to large scenes without building the sparse normal system.
• Results: On C3VD (endoscopic) and OmniObject3D, CF-Splat matches or beats iterative methods (3DGS, Triangle-Splat, Mesh-Splat) on PSNR/SSIM/LPIPS while skipping iterative optimization — suited to robot perception pipelines that already produce meshes.

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