RoadVGGT: Road-Structure-Aware Feed-Forward Road Surface Reconstruction

Abstract

Large-scale road surface reconstruction supports high-definition mapping, autonomous-driving perception, annotation, and simulation. Existing road-specialized optimization methods can produce high-quality road representations, but they typically require per-scene training and scene-dependent coverage design around the driving trajectory, limiting scalable reconstruction over newly collected roads. To address these limitations, we introduce RoadVGGT, a road-structure-aware feed-forward framework that reconstructs compact Gaussian road surfaces without test-time per-scene optimization. RoadVGGT uses a geometric foundation model to exploit multi-view images together with provided pose and depth observations, and predicts dense pixel-aligned Gaussian attributes through a learned Gaussian head. To make these dense predictions usable for large road surfaces, we align them into a consistent metric world coordinate system and fuse redundant Gaussians on the road-aligned XY plane through confidence-weighted grid fusion. Category-aware grouping and road--sidewalk junction protection further control fusion around vulnerable road structures. The resulting representation supports RGB and semantic bird's-eye-view maps, elevation estimation, and novel view synthesis. RoadVGGT eliminates the need for per-scene optimization in prior methods, reconstructs complete road surfaces with a compact Gaussian representation, and improves image quality, semantic mapping, and elevation accuracy. Extensive experiments demonstrate the potential of geometric foundation models for scalable feed-forward road surface reconstruction.