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--> [Submitted on 11 Aug 2026] Title:SpotlessGS: Relightable 3D Gaussian Splatting under Dynamic Illumination for Robotic Perception View a PDF of the paper titled SpotlessGS: Relightable 3D Gaussian Splatting under Dynamic Illumination for Robotic Perception, by Liang Hong and 4 other authors View PDF HTML (experimental) Abstract:Robots operating in dark or poorly lit environments rely on onboard lights, which often produce uneven illumination that degrades downstream perception tasks. Prior approaches based on 2D image enhancement lack reliable supervision and fail to preserve multi-view geometric consistency. To address these limitations, we extend Dark Gaussian Splatting (DarkGS) toward a more accurate and flexible relightable 3D reconstruction framework. First, we eliminate the need for explicit light parameter calibration by jointly optimizing lighting parameters within the Gaussian Splatting framework. Second, we introduce a low-frequency illumination model based on spherical harmonics (SH) to capture spatially varying residual and ambient lighting effects. Third, we incorporate an MLP-based Bidirectional Reflectance Distribution Function (BRDF) to model non-Lambertian reflectance. Experiments on synthetic and real-world datasets demonstrate that our method effectively mitigates illumination artifacts while improving rendering quality and quantitative performance over prior approaches. We further validate its benefits for robotic perception through a downstream task. Comments: Accepted to the 2026 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2026) Subjects: Robotics (cs.RO); Computer Vision and Pattern Recognition (cs.CV) Cite as: arXiv:2608.14713 [cs.RO] (or arXiv:2608.14713v1 [cs.RO] for this version) https://doi.org/10.48550/arXiv.2608.14713 arXiv-issued DOI via DataCite (pending registration) Submission history From: Liang Hong [view email] [v1] Tue, 11 Aug 2026 17:35:34 UTC (31,157 KB) Full-text links: Access Paper: View a PDF of the paper titled SpotlessGS: Relightable 3D Gaussian Splatting under Dynamic Illumination for Robotic Perception, by Liang Hong and 4 other authors View PDF HTML (experimental) TeX Source view license Current browse context: cs.RO new | recent | 2026-08 Change to browse by: cs cs.CV References & Citations NASA ADS Google Scholar Semantic Scholar Loading... Data provided by: Bibliographic Tools Bibliographic and Citation Tools Bibliographic Explorer Toggle Bibliographic Explorer (What is the Explorer?) Connected Papers Toggle Connected Papers (What is Connected Papers?) Litmaps Toggle Litmaps (What is Litmaps?) scite.ai Toggle scite Smart Citations (What are Smart Citations?) Code, Data, Media Code, Data and Media Associated with this Article alphaXiv Toggle alphaXiv (What is alphaXiv?) Links to Code Toggle CatalyzeX Code Finder for Papers (What is CatalyzeX?) DagsHub Toggle DagsHub (What is DagsHub?) GotitPub Toggle Gotit.pub (What is GotitPub?) Huggingface Toggle Hugging Face (What is Huggingface?) ScienceCast Toggle ScienceCast (What is ScienceCast?) Demos Demos Replicate Toggle Replicate (What is Replicate?) Spaces Toggle Hugging Face Spaces (What is Spaces?) Spaces Toggle TXYZ.AI (What is TXYZ.AI?) Related Papers Recommenders and Search Tools Link to Influence Flower Influence Flower (What are Influence Flowers?) Core recommender toggle CORE Recommender (What is CORE?) Author Venue Institution Topic About arXivLabs arXivLabs: experimental projects with community collaborators arXivLabs is a framework that allows collaborators to develop and share new arXiv features directly on our website. Both individuals and organizations that work with arXivLabs have embraced and accepted our values of openness, community, excellence, and user data privacy. arXiv is committed to these values and only works with partners that adhere to them. Have an idea for a project that will add value for arXiv's community? Learn more about arXivLabs. Which authors of this paper are endorsers? | Disable MathJax (What is MathJax?)