3D Gaussian Splatting has demonstrated remarkable real-time rendering capabilities and superior visual quality in novel view synthesis for static scenes. Building upon these advantages, researchers have progressively extended 3D Gaussians to dynamic scene reconstruction. Deformation field-based methods have emerged as a promising approach among various techniques. These methods maintain 3D Gaussian attributes in a canonical field and employ the deformation field to transform this field across temporal sequences. Nevertheless, these approaches frequently encounter challenges such as suboptimal rendering speeds, significant dependence on initial point clouds, and vulnerability to local optima in dim scenes. To overcome these limitations, we present FRoG, an efficient and robust framework for high-quality dynamic scene reconstruction. FRoG integrates per-Gaussian embedding with a coarse-to-fine temporal embedding strategy, accelerating rendering through the early fusion of temporal embeddings. Moreover, to enhance robustness against sparse initializations, we introduce a novel depth- and error-guided sampling strategy. This strategy populates the canonical field with new 3D Gaussians at low-deviation initial positions, significantly reducing the optimization burden on the deformation field and improving detail reconstruction in both static and dynamic regions. Furthermore, by modulating opacity variations, we mitigate the local optima problem in dim scenes, improving color fidelity. Comprehensive experimental results validate that our method achieves accelerated rendering speeds while maintaining state-of-the-art visual quality.

翻译：三维高斯溅射已在静态场景的新视角合成中展现出卓越的实时渲染能力和优异的视觉质量。基于这些优势，研究人员逐步将三维高斯扩展至动态场景重建。在各种技术路线中，基于变形场的方法已成为一种极具前景的方案。这些方法在规范场中保持三维高斯属性，并利用变形场将其沿时间序列变换。然而，这些方法常面临渲染速度欠佳、对初始点云依赖性显著以及在昏暗场景中易陷入局部最优等挑战。为克服上述局限，我们提出FRoG——一个用于高质量动态场景重建的高效鲁棒框架。FRoG集成每个高斯嵌入与由粗到细的时间嵌入策略，通过早期融合时间嵌入加速渲染。此外，为增强对稀疏初始化的鲁棒性，我们引入一种新型深度与误差引导采样策略。该策略在低偏差初始位置向规范场注入新三维高斯体，显著降低变形场优化负担，并提升静态与动态区域的细节重建效果。进一步地，通过调控不透明度变化，我们缓解了昏暗场景中的局部最优问题，改善色彩保真度。综合实验结果验证，该方法在保持顶尖视觉质量的同时，实现了加速渲染。