Voyager: Real-Time Splatting City-Scale
3D Gaussians on Your Phone

Zheng Liu^*

Shanghai Jiao Tong University, Shanghai, China

He Zhu^*

Shanghai Jiao Tong University, Shanghai, China

Xingyang Li

Shanghai Jiao Tong University, Shanghai, China

Yirun Wang

Shanghai Jiao Tong University, Shanghai, China

Yujiao Shi

ShanghaiTech University, Shanghai, China

Wei Li

Shanghai Jiao Tong University, Shanghai, China

Jingwen Leng

Shanghai Jiao Tong University, Shanghai Qi Zhi Institute, Shanghai, China

Minyi Guo

Shanghai Jiao Tong University, Shanghai Qi Zhi Institute, Shanghai, China

Yu Feng^†

Shanghai Jiao Tong University, Shanghai Qi Zhi Institute, Shanghai, China

∗ Equal contribution. † Corresponding author.

🎥Demo Video

HierarchicalGS τ=3.0

Voyager-L τ=3.0

HierarchicalGS τ=3.0

Voyager-L τ=3.0

HierarchicalGS τ=3.0

Voyager-L τ=3.0

HierarchicalGS τ=3.0

Voyager-L τ=3.0

📑1. Qualitative comparison of Voyager against other baselines on the SmallCity scene from HierarchicalGS

📑2. Qualitative comparison of Voyager against other baselines on the SciArt scene from UrbanScene3D

📑3. Qualitative comparison of Voyager against other baselines on the Residence scene from UrbanScene3D

📑4. Qualitative comparison of Voyager against other baselines on the Rubble scene from MegaNeRF

📑5. Qualitative comparison of Voyager against other baselines on the Building scene from MegaNeRF

📑6. Qualitative comparison of Voyager against other baselines on small-scale dataset.

📑1. Qualitative results of the sensitivity of rendering quality and performance to the lookup table size (𝑚 intervals) in the rasterization stage.