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arXiv · 2610.11572

PAM-ToD: Plug-and-Play Appearance Modeling for Cross-Time-of-Day 3D Gaussian Splatting

Kota Shimomura·Sungho Moon·Tsubasa Hirakawa·Takayoshi Yamashita·Sunghoon Im·Hironobu Fujiyoshi
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Abstract

Adapting a pre-trained 3D Gaussian Splatting (3DGS) road scene to a new time of day requires learning appearance changes from a few anchor images while preserving consistent, real-time rendering. We propose PAM-ToD, a lightweight plug-in that learns color corrections while keeping the pre-trained 3DGS parameters fixed. PAM-ToD scales each Gaussian's existing color to model illumination changes and uses an additive term for additional brightness, such as when street lamps turn on at night. Under a simplified image formation model, unchanged surface albedo can be eliminated from the relation between source and target appearances, allowing us to learn these corrections without separately estimating albedo and illumination. The model corrects colors across the scene while allowing the corrections to vary by location and by Gaussian. To guide learning from a few anchor images, it discourages abrupt spatial changes in these corrections. We also introduce CARLA-ToD, a benchmark with matching geometry, camera poses, and moving-object trajectories across three times of day. A few target-time anchor images are used to train each plug-in, while separate views are used for evaluation. Across the static and dynamic settings, PAM-ToD achieves higher PSNR and lower LPIPS than the baselines, even when the anchor images come from a single synchronized capture across multiple cameras.

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Kota Shimomura, Sungho Moon, Tsubasa Hirakawa, Takayoshi Yamashita, Sunghoon Im, Hironobu Fujiyoshi. 2026-10-08. PAM-ToD: Plug-and-Play Appearance Modeling for Cross-Time-of-Day 3D Gaussian Splatting. https://arxiv.org/abs/2610.11572

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