Leveraging Visual and Geometric Priors for Metric-scale and Complete Vehicle Gaussian Reconstruction from Limited Views

Abstract

High-fidelity vehicle assets are essential for controllable traffic scene generation, particularly for synthesizing rare and safety-critical long-tail scenarios. However, reconstructing a reusable vehicle representation from in-the-wild onboard images remains challenging for two reasons. First, image-to-3D generation methods generally produce models without reliable metric scale. Second, onboard cameras usually observe only one side of a target vehicle, making conventional multi-view reconstruction incomplete on unobserved regions. To solve these problems, we propose a feed-forward vehicle asset reconstruction method, which leverages two complementary priors to reconstruct 3D Gaussian representations for vehicles using sparse one-sided observations. To achieve metric-scale reconstruction, a visual foundation model is first utilized to serve as a visual prior for Gaussian initialization. The Gaussian attributes are then estimated by a learnable encoder-decoder module. A symmetry-aware cloning strategy is presented to complete the unobserved side directly in Gaussian space, which exploits the bilateral structure of vehicles as a geometric prior. Experiments on the public dataset demonstrate that the proposed method significantly outperforms existing approaches in both vehicle asset completeness and geometric accuracy.