Gaussian splatting struggles to reconstruct indoor office environments with textureless planar surfaces, as shown in Figure 3. One key reason for reconstruction challenges is the poor point cloud initialization by Structure-from-Motion (SfM), which fails to generate reliable points in these textureless regions (Figure 4).
Figure 3: Effect of initialization on reconstruction quality. The left image shows a good reconstruction when points are sampled from the ground truth mesh. In contrast, using COLMAP to obtain the point cloud results in missing points on planar regions, leading to inaccurate geometry and unwanted artifacts
Figure 4: SfM point clouds fail to produce points in planar textureless regions