MCSplat: Multi-View Photometric and Geometric Consistent Feed-Forward Gaussian Splatting for Driving Scenes NeurIPS2026

Driving-scene reconstruction via feed-forward Gaussian splatting from sparse multi-view images remains challenging due to two factors. First, cross-camera photometric inconsistency, caused by variations in exposure, ISP, and illumination, can be incorrectly absorbed into Gaussian geometry. Second, unreliable local geometric supervision arises from normal-based constraints near depth discontinuities.

To address these issues, we present MCSplat, a multi-view consistent feed-forward Gaussian splatting framework for driving scenes. MCSplat constructs a canonical appearance space from depth-guided multi-camera correspondences to decouple geometry learning from camera-specific appearance. A multi-scale Bilateral Grid Transformer restores raw camera appearance from canonical renderings, enabling photometric supervision without contaminating Gaussian geometry. To improve local geometric reliability, we estimate Fisher-information-based uncertainty from photometric sensitivity and use it to adaptively weight surface-oriented self-supervision. Extensive experiments on Waymo and nuScenes demonstrate improved image reconstruction quality and generalization across driving datasets. Geometry-oriented evaluations further reveal enhanced cross-view depth consistency and local surface-normal agreement, while qualitative results show fewer geometric artifacts and more coherent structures across overlapping views.