CHROMA: Consistent Harmonization of Multi-View Appearance via Bilateral Grid Prediction
Authors: Jisu Shin
Richard Shaw
Seunghyun Shin
Zhensong Zhang
Hae-Gon Jeon
Eduardo Pérez-Pellitero
Venue: ICLR 2026 Poster (2026)
Keywords: Bilateral Grid
Appearance Harmonization
3D Reconstruction
Primary area: applications to computer vision, audio, language, and other modalities
TL;DR: We propose a feed-forward method that harmonizes multi-view appearance using bilateral grid, generalizes across scenes without retraining, and matches or surpasses optimization-based methods without extra training cost.

Abstract: Modern camera pipelines apply extensive on-device processing, such as exposure adjustment, white balance, and color correction, which, while beneficial individually, often introduce photometric inconsistencies across views. These appearance variations violate multi-view consistency and degrade novel view synthesis. 
Joint optimization of scene-specific representations and per-image appearance embeddings has been proposed to address this issue, but with increased computational complexity and slower training. 
In this work, we propose a generalizable, feed-forward approach that predicts spatially adaptive bilateral grids to correct photometric variations in a multi-view consistent manner. Our model processes hundreds of frames in a single step, enabling efficient large-scale harmonization, and seamlessly integrates into downstream 3D reconstruction models, providing cross-scene generalization without requiring scene-specific retraining. To overcome the lack of paired data, we employ a hybrid self-supervised rendering loss leveraging 3D foundation models, improving generalization to real-world variations.
Extensive experiments show that our approach outperforms or matches the reconstruction quality of existing scene-specific optimization methods with appearance modeling, without significantly affecting the training time of baseline 3D models.

Published as a conference paper at ICLR 2026
CHROMA: CONSISTENT HARMONIZATION OF MULTI- VIEW APPEARANCE VIA BILATERAL GRID PREDICTION
Jisu Shin 1.2+
Richard Shaw! Hae-Gon Jeon 3t
Seunghyun Shin Eduardo Pérez-Pellitero i
Zhensong Zhang'
Huawei Noah's Ark Lab
2 Department of AT Convergence, GIST Department of Artificial Intelligence, Yonsei University
BDSS
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WilCounds
DashGS
3DGS + Ours
Oura
PD55
AnySplat
2003
AnySplat
20GS 6.Ours
Time
(a) Input Harmonized views
Scene reconstruction
(d) Processing time PSNRCC plat
Figure 1: (a) Input views with inconsistent appearance, (b) input views harmonized by our model, (c) novel view renderings of 3DGS fitted to inconsistent input views and ones corrected by our model, (d) comparison with 3DGS-based appearance embedding methods on varying exposure dataset.
ABSTRACT
Modern camera pipelines apply extensive on-device processing, such as exposure adjustment, white balance, and color correction, which, while beneficial individu- ally, often introduce photometric inconsistencies across views. These appearance variations violate multi-view consistency and degrade novel view synthesis. Joint optimization of scene-specific representations and per-image appearance embed- dings has been proposed address this issue, but with increased computational complexity and slower training. In this work, we propose a generalizable, feed- forward approach that predicts spatially adaptive bilateral grids to correct photo- metric variations in a multi-view consistent manner. Our model processes hundreds of frames in a single step, enabling efficient large-scale harmonization, and seam- lessly integrates into downstream 3D reconstruction models, providing cross-scene generalization without requiring scene-specific retraining. To overcome the lack of paired data, employ hybrid self-superviser rendering loss leveraging 3D foundation models, improving generalization to real- weal-wordd variations. Extensive experiments show that our approach outperforms matches the reconstruction quality of existing scene- spencfip optimization methods with appearance modeling, without significantly affecting the training time of baseline 3D models.
INTRODUCTION
Novel view synthesis (NVS) and 3D reconstruction are fundamental challenges in computer vision and graphics. Recent advances, such as Neural Radiance Fields (NeRF) (Mildenhall et al.) (020) and 3D Gaussian Splatting (3DGS) (Kerbl et al. 22023), have significantly improved the fidelity and realism of scene reconstruction and rendering. These methods typically rely multi-view images
Work done during an internship at Huawei Noah's Ark Lab, UK
Corresponding authors

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Published as a conference paper at ICLR 2026
captured under the assumption of photometric consistency across views. However, this assumption often breaks in real-world scenarios due to various sources of photometric inconsistency, including: (i) in-camera Image Signal Processing (ISP) variations, e.g. exposure, white balance, color correction; and (ii) scene illumination. Such inconsistencies degrade reconstruction quality, producing floaters, color artifacts, or generally unstable results. To address these challenges, prior art has explored per-view appearance embeddings (Martin-Brualla et al.) 2021; Kulhanek et al. 2024]] Wang et al., 2024al Xiao et al. 2025 Cui et al. 2025), providing reconstruction with additional capacity to capture per-view appearance variations via MLPs, tone curves, or affine transforms that are jointly learned with the scene in global multi-view optimization. While effective, these approaches tightly couple appearance modeling with geometry reconstruction, incurring additional computation at each optimization step, substantially increasing training cost. This undermines the efficiency of pipelines designed for speed, e.g. 3DGS and recent extensions (Mallick et al. 2024 Chen et al., (025) which achieve rapid scene fitting. Morcover, the recovered appearance after removing the embeddings is not explicitly controllable and often converges to the mean of all variations observed in the input views.
These limitations motivate decoupling appearance harmonization from scene optimization and addressing it in feed-forward manner, promising improvements in accuracy, controllability, and efficiency. However, several challenges remain when treating this as an independent problem. Existing 2D image and video enhancement techniques (Afifi et al. 2021 1, Cui al.. 2024; Li et al. 2024
Zhou et al., 2024; Cui et al., 2022; [Shin et al. 2023] (024a) often lack temporal or multi-view consistency, address only limited types of appearance variation (e.g. exposure correction), and struggle to robustly handle severe color shifts or saturation artifacts. Additionally, most approaches require fully-supervised learning paradigms, yet collecting paired real-world data is infeasible: real- world appearance variations are inherently unique in time and space, and one cannot easily capture pixel-aligned images where several appearance variations can be isolated and used as labels.
In this work, we address the aforementioned challenges by introducing a feed-forward approach to multi-view appearance harmonization tailored for 3D reconstruction from varying appearance images. Given multi-view captures of a static scene and a reference frame with desired appearance, our model transforms all views to match the reference, ensuring photometric consistency. Our key idea is to learn per-frame 3D bilateral grids of affine transforms in generalizable, multi-view consistent manner. We use bilateral grids as they are compact and expressive, capable of modeling a wide range of ISP operations (Chen et al. 2007: [Gaarb et al. 2017 Shin et al.) (024b) and beyond. A multi-view aware transformer predicts low-resolution bilateral grids for each view, which, when applied to the inputs, aligns their appearance with the reference full resolution. To make the model uncertainty-awarr we also predict bilateral confidence grids using a probabilistic loss. We introduce a reference selection strategy that identifies the image most representative of overall scene appearance. avoiding outliers that could degrade reconstruction quality. Selection is driven by a weighted ranking score accounting for both intensity and semantic similarity, ensuring the final appearance is realistic (i.e. not an average over all frames), while providing flexibility for either manual choice or automatic selection. Lastly, we address the lack of training data for such a system by proposing (i) a synthetic data-generation pipeline to handle large granularity image-level variations, and (ii) self-supervised training paradigm that uses recent large 3D reconstruction models as pretext task to provide real-data training signals.
Unlike prior art, our lightweight transformer model introduces only a fixed computational cost per frame. This decoupled design allows seamless integration into pipelines such as 3DGS (Kerbl et al. 2023). 2DGS (Huang et al.] 2024a), DashGS (Chen et al. 2025), and even ferwafo models (Jiang al. 2025), enhancing view consistency while preserving scalability and speed. Through our hybrid self-supervised and supervised (synthetic data) approach, our model achieves state-of-the-an accuracy for real-world datasets, which in turn also improves the robustness and stability of 3DGS optimization under challenging photometric conditions without negatively affecting training time. Comprehensive evaluation demonstrates that our model matches and often exceeds the performance of existing 3DGS- based appearance embedding approaches while maintaining competitive training speed.
2 RELATED WORKS
Appearance Correction and Bilateral Grids. Image correction aims to adjust visual attributes such as exposure, white balance, and tone to improve image quality or ensure consistency. Traditional
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methods solve this using histogram equalization (Zuiderveld, 1994), retinex-based methods, global transformation optimization. but often lack spatial adaptability. Learning-basee approaches (Afifi) et all. 2021 Afifi & Brown, 2020 Zhou et al., (024) address these issues using CNNs, but struggle with generalization or fine detail preservation. Bilateral filtering has been widely used due to its
edge-aware properties. Numerous approaches improve its efficiency, such as convolution pyra- mids [Farbman et al., [201]) and fast bilateral filtering (Paris & Durand 2006] Tomasi & Manduchi
1998 Chen et al. 2007). A common acceleration strategy applies the operator low resolution and
upsamples the result, but this results in blurry outputs. Bilateral space optimization (Barron et al.
2015 Barron & Poole, 2016) addresses this by solving an optimization problem within bilateral grid. Similarly, (Chen et al. 2007) approximate an image operator using grid of local affine models in bilateral space, where parameters are fit to single input-output pair. (Gharbi et al. 2017) build upon this by training a neural network to apply the operator to unseen inputs. While most bilateral grid methods operate solely on single 2D images, our work extends this concept to the spatio- temporal domain, enabling multi-view consistent enhancement through transformer- baasdd architecture.
Novel View Synthesis under Appearance Variations. Extensions to NeRF (Mildenhall et al. 2020) and 3DGS (Kerbl al. 2023) have attempted to solve novel view synthesis under real-world conditions such as inconsistent lighting, occlusions, and scene variability. The pioneering work NeRF-W (Martin-Brualla et al.
(021) incorporates per-image appearance and transient embeddings,
with aleatoric uncertainty for transient object removal. Follow-ups improved NeRF robustness (Chen) aT, 2021 Yang et al. 2023; Tancik al.) 2022), but suffer from slow optimization, rendering, and limited scalability. In low-light, RAW-NeRF (Mildenhall et al. (021) leverages raw sensor data, but constrained by long training times. For 3DGS, VastGaussian (Lin al. (024) applies CNNs to 3DGS outputs, but struggles with large appearance shifts. GS-W (Zhang et al., (024) and WE-GS (Wang et al.) (224b) use CNN-derived reference features, while SWAG (Dahmani et al. 2024) and Scaffold-GS (Lu et al. 2024) store appearance data in a hash-grid-based implicit field (Müller et al. 2022). WildGaussians (Kulhanek et al.) (024) embeds appearance vectors within Gaussians, while Splatfacto-V W (Xu et al. 2024) similarly combines Gaussian and image embeddings
via an MLP to output spherical harmonics. Luminance- (Cui et al., (025) predicts view color
transforms followed by view-adaptive curve adjustment. DAVIGS (Lin al. 2025) learns per-pixel affine transforms using an MLP combining per-view embeddings and 3D features. Most relevant to ours is BilaRF (Wang et al. 2024a). NeRF-based method learning per-view bilateral grids model camera ISP effects; recently extended to 3DGS (Xiao et al. 2025). ). However, all of these methods significantly increase training time. In contrast, we process the input images using generalizable
multi-view transformer, avoiding scene-specific optimization and preserving 3DGS efficiency.
3 METHODOLOGY
We propose transformer model that takes input a multi-view sequence of frames with varying appearances (e.g., exposure, white balance, color shifts) and predicts 3D bilateral grids to align each view with the reference frame. In this section, we first review bilateral grid processing (Sec. [31]), then introduce our transformer architecture (Sec. (.2) and reference frame selection mechanism (Sec, (.3) We present our training strategy, leveraging self-supervision from large feed-forward model, and detail our dataset construction process (Sec. 3.4) Our full pipeline overview is shown in Fig. 2
3.1 PRELIMINARIES
3D Bilateral Grids for Image Processing. A 3D bilateral grid (Chen et al. 2007) is a compact data structure suitable for efficient modeling of pratially-varying edge-aware image transformations. lifts image data into a lower resolution three-dimensional space defined by two spatial coordinates and guidance dimension derived from the image intensity. By decoupling computational cost from image resolution and preserving semantic edges, bilateral grids enable real-time, and structure-aware processing, making them widely used for tone mapping, stylization, and artifact removal.
In the multi-view setting, we can model the appearance variations using per-view bilateral grids. We denote the i-th bilateral grid corresponding to the i-th image I, E R HxW XxxWxx3 x3 as a tensor of local affine transformations B, E IR" xW, xxxx22 where H W... w. and D denote the spatial and guidance dimensions, respectively, such that (H,, W.) << (H, W). The last dimension of size 12 corresponds to the flattened parameters of 3 x 4 affine transformation: a 3 x 3 matrix A E R3x3 and bias
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Reference Frame Selection
Bilateral Grid Prediction for Multi-View Consistent
Reconstruction
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Source Frames
Head
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Figure 2: Architecture Overview. Our model first patchifies the reference frame Luf and N input multi-view source images {I into tokens. These are passed through the transformer encoder blocks comprising alternating frame-wise and global self-attention layers. repeated 3 times. The decoder uses alternating frame-attention and cross-attention with the reference frame. A final grid prediction head predicts the image and confidence bilateral grids (B, and C,), which are subsequently sliced to produce the corrected frames [ and confidence maps {C)) i= Based on our reference frame selection which chooses the frame with best photometric quality, we use the resulting harmonized images to train a wide range of 3D reconstruction models.
fi=!
vector E IR For input image I, each pixel d with color La E I transformed to its corresponding output pixel color I'd R3 by applying the affine transformation: I'd Agla + ba, where Aa and ba are the affine parameters specific to pixel d. The parameters 0₂ = (Aa, bu) are obtained via trilinear interpolation over the neighboring vertices of the bilateral grid:
0g = Σ (d))
J.
where Bi5k E R112 are the affine parameters at vertex (i.j. k), and Wayk (d) are interpolation weights determined by the spatial and guidance coordinates of pixel d. This process is known as slicing. For the guidance dimension, we use the pixel luminance following (Chen et al.) 2007: Wang et al. 2024a). The bilateral grid resolution is much smaller than the input image resolution, reducing computational cost and preventing the bilateral grid from encoding the high-frequency content of the image.
3.2 MULTI- VIEW BILATERAL GRID TRANSFORMER
Our aim is to transform multi-view captures of a scene to be globally consistent, enabling robust reconstruction and novel view synthesis under appearance variations. To achieve harmonization, propose a multi-view aware transformer predicting per-patch bilateral grid parameters. This approach leverages the conceptual similarity between transformer patch-based processing and the structure of 3D bilateral grids where each vertex encodes a local affine color transformation. By predicting compact grid parameters per patch, which applied to the original high-resolution images efficiently via lightweight slicing, our model learns spatially-varying image corrections that are consistent across views due cross-fiet frams- attention, while balancing performance and computational cost.
Model Processing and Outputs. The input to our model is sequence of N multi-view frames of scene (L) ) exhibiting potential appearance inconsistencies in color, exposure, white balance. etc. Here, a reference frame Iref, defining the target appearance, is selected via the protocol described in Sec. 3.3 while the remaining frames Lyrref serve as source images to be harmonized with Iyef- First, each input image I, E Hx is partitioned into non-overlapping patches P, E #p where the number of patches J is H. W. Hr W Each patch P., is then projected into feature vector by the patch encoder & emmbed- These feature vectors, combined with positional encoding to retain the spatial information of each patch, form the input token sequence to our model:
X = { emmmeed (Pi.) + PE., (Bs.Jimi... The input tokens are then processed with the main network fo. yielding set of 3D bilateral grids and confidence grids (Bi) R xW, X.txxxxxDixi Dx12 and
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[C. XxXXXX
fo(X) (Bi) if (Cilirref)
where [B:} are applied to source frames (I. iifir to get harmonized frames ( via slicing (Sec.
Alternating Self and Cross Attention Architecture. Fig. 2 shows our encoder-decoder transformer architecture, which adopts the alternating attention strategy of VGGT (Wang et al. 2025) to reduce memory cost while preserving the ability to model both intra- and cross-view interactions.
In the encoder, each block alternates between local self-attention, applied independently within each view to model spatial context and viewpoint-specins patterns, and global self-attention, which exchanges information across views at corresponding patch positions.
In the decoder, explicitly align source frames [ istref with the reference frame L to harmonize the appearance. Encoder outputs {x(,) are separated into Xfef,j and (x4, } fitreft which are reference and source features, respectively. We replace global-attention layers with cross-altention between reference and sources tokens, enabling conditioning on the reference. Specifically, the key K and value V are extracted from Xee while the query Q is extracted from y for each decoder cross-attention block. With this framework, the refined features (x",, lifreee inherit consistent appearance guided by the reference feature Xxefj' yielding harmonized multi-view features.
Bilateral Grid and Confidence Prediction Head. The decoder's output tokens for each source frame are used to predict the set of bilateral grids (B.). to correct their appearance, rather than directly regressing corrected images. Each token {x" ( predicts the per-intensity affine transformation parameters of the bilateral grids {Baj} E RD112, where D is the intensity guidance dimension. Due the conceptual similarity between the patch-based transformer model and bilateral grid, we can simply predict each grid-vertex parameters from each token using small MLP. Per-pixel affine transforms obtained by slicing the resulting grids are applied to the source images obtaining the harmonized images {I. figree
In addition to bilateral grids, we make our model uncertainty-awarn by predicting aleatoric uncer- tainty (Kendall & Cipolla (001)); modeling inherent noise in the data, c.g., photometric variations in the ground truths or information loss over-/under-exposeed regions; thus stabilizing the training loss. Since we cannot directly obtain the confidence maps from our prediction head, as this would require dense prediction head (Wang al. (025), we instead predict a low-resolution confidence grid along with each bilateral grid (C.) E "RR.,., XW, DDx1, Thus, for each patch position j. the grid prediction head outputs {C.,i] D Applying the slicing operation as before using the source images, we obtain full-resolution confidence maps (C,,) E RR HxW x1 that reflect the confidence of each pixel.
3.3 REFERENCE FRAME SELECTION
We employ reference-frante based strategy for two practical reasons: it maintains consistent color space across frames, mitigating drift, and it allows explicit control over the final reconstruction appearance by specifying the reference frame. However, naively using the first
random frame as the reference poses the risk of selecting an outlier, potentially causing drift or degrading quality, as shown in previous studies (Ren et al., 22200] Lee al. [022]] Shin al. (025). To address this, propose method to select reference frame that is both photometrically reliable and semantically representative inference, as visualized in Fig. 2 (left).
We assess the semantic representativeness of each frame by computing cosine similarities of DINOv2 embeddings (Oquab et al., (003).. This yields a per-frame similarity score SDINO- favoring those that contain rich scene information. However, as DINOv2 is robust to illumination variations, underexposed frames may also receive undesirably high similarity scores. Thus, we also assess the photometric quality of frames with respect to under-fover-expeuur using the luminance channel I, in CIE-LAB color space. We penalize frames with extreme werr//uder-ceppouur ratios (e.g., below 5% or above 95%) and combine this with the normalized entropy of the luminance distribution to form:
SLAB -dent
(-_x() p(1) (o)(()))())
Aoo [
Σ Lig 2 250] + Aun
1
ΣILO S 5),
(3)
[L]
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where, p(l) is the probability of intensity level estimated from the normalized luminance histogram, and Xent. Avu. and Aun are 1, -0.5, and -0.5, respectively. We define the overall score for frame as St SLAB, + (1 a) SpIOo and the frame with the highest S; is chosen as the reference, where a is set to 0.5. This pipeline maintains interpretability reference-based harmonization while enabling automatic and robust selection.
3.4 TRAINING STRATEGY
Training Objectives with Self-Supervised Guidance. We train our model with the following probabilistic loss function (Kendall & Cipolla 2016) to predict the corrected images:
N L C 1l - log(C"))
where I is the source image corrected with the bilateral grid B,. This probabilistic loss modulates the L1 loss between the corrected image I and the ground-truth image i, allowing the model to rely less on its predictions in challenging areas where image detail recovery is difficult. Along with Lconf, we apply the total variation loss, CrV, encouraging smoothness of the bilateral grids:
N
CTV
E Σ (IArBa(k, w, 211 + Bi(h, w, 2)12 + |IAaB.(h, w, 2)12). (5)
h.w,dd
where A denote forward difference operators.
As it is not straightforward to obtain real-world paired data to train model, we further introduce self-supervised loss. This enables training in cases without ground truth images and helps enforce view-consistency across frames, We leverage large, pretrained feed forward 3D recon- struction model he (e.g., AnySplat (Jiang et al. 2025 Specifically, given a sequence of frames on each train ing iteration, we the first frame as reference (ref= 0) and predict camera poses {p, J.V and Gaussian primi- tives { from all the frames, including the first input frame Fref and the remaining corrected frames (T)) The predicted Gaussians for non-reference frames {TA are then reprojected to the viewpoint of the reference frame using predicted camera pose Pref- and compute the perceptual loss utilizing VGG features (Simonyan & Zisserman, 2014) between the original reference frame Ief and the rendered image. This encourages the outputs of our bilateral transformer network Sa remain in consistent color space, so that the downstream 3D reconstruction model he can build coherent scene representation and generate stable novel views. Based on this, the self-supervised consistency loss L., is defined as:
uppuFrrame
Camsea Fooe Frediction
Cassa Prodicton
lcc
Rendering
3D Foundation Model (e.g., AnySplat)
Pref
CHROMA
-G
Figure 3: 3D foundation model-base self-supervised loss pipeline.
C.. = VGG(Inef - Rasterizer (G, where (G: = ha (f
with Rasterizer denoting the differentiable Gaussian rasterizer that projects the set of predicted Gaussian primitives }G,} into the viewpoint Pref of the reference frame. Thus, our total loss is:
L= L AeoLTV + Asshes:
where Ato and Ass are set to 0.5 and 0.1, respectively. Note that we use the predicted Gaussian opacity to mask out unreliable regions both the reference image Iref and the rasterized image from the predicted Gaussians {G.), allowing us apply C., only to well-reconstrueted arcas.
Training Datasets. Acquiring large-scale multi-view paired data with realistic appearance varia- tions is extremely challenging. Our approach handles this limitation by (i) simulating diverse and controllable variations in a synthetic setting, and (ii) introducing a self-supervised rendering loss that allows to effectively learn from unpaired real-world data (Eq. 6). For paired data, multi-view consistent sequences from the DL3DV dataset (Ling et al. 2024). comprising 10K scenes, each containing more than 300 frames. For each scene we synthesize realistic appearance variations

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simulating camera ISP pipelines, thereby creating input-target pairs with controllable appearance changes. For unpaired data, we use the WildRGB-D dataset (Xia et al. 2024), which captures objects under 360 degree rotations. It consists of 8K recorded objects, where each scene also contains roughly 300 frames. As the viewpoint changes, the environmental lighting and camera's auto-ISP settings induce appearance variations, such fluctuating exposure, white halance and illumination, providing a realistic source of real-world inconsistencies. During training, the supervised loss Lcon is applied only to paired data (DL3DV), while our self-supervised consistency loss C.s and total variation loss Ltv are jointly optimized over both datasets. This enables our model to generalize well across both synthetic and real variations.
Parametric Camera ISP Simulation. We apply parametric camera ISP simulation on top of the DL3DV dataset (Ling et al., 2024). Building on the unprocessing framework of (Brooks et al. 2019), we reverse the camera pipeline to obtain linear RGB images and apply randomized variations in white balance, exposure, digital gain, gamma perturbation, and color correction matrices (CCMs). To realistically simulate illumination diversity, we model the exposure distribution as a bi-modal mixture representing both daytime and nighttime conditions. Specifically, exposure values e are drawn from:
~ II N (H )ay + (1 11--1 T) N (Hnights might):
where (Joday, dayy) and (Hiight, Fnight) the mean and variance of day and nighttime exposures respectively, and x E [0. 1] controls the prior probability of day and night; set to (1.0, 0.2), (0.2, 0.1), 0.5, respectively. This simulates both well-lit and low-light scenes, enhancing robustness to ISP-induced inconsistencies under varying illumination conditions, as illustrated in Fig. aa).
Implementation Details. As Fig. 2 shows, our transformer encoder employs 3 layers of alternating frame-wist and attention. The model relatively compact. with 137.8 ..4M parameters in total. We train by optimizing Eq. [ with AdamW (Loshchilov & Hutter 2017) for 70K iterations. We use dynamic batch loading to randomly sample between and 24 frames from a selected multi-view scene (Sec. 3.4). Input images are resized to 224 x 224 resolution with patch size 8 x 8, resulting in a total of 28 x 28 x 8 bilateral grid vertices per frame; one for each input image patch with guidance dimension of D 8. Training takes roughly day with current GPU hardware (60 TFLOPS fp32 and 80 GB of memory).
The decoder comprises 3 layers of alternating frame-wiss and cross-
4 EXPERIMENTS
We evaluate our method under three types of appearance variations: (a) ISP variations, (b) exposure changes, and (c) real-world capture conditions. This section describes the datasets used, baseline comparison methods, evaluation metrics, followed by detailed experimental results and ablations.
Evaluation Datasets. For (a) ISP variations, use camera ISP variation dataset derived from the DL3DV dataset (Ling et al. 2024). As described in Sec. 3.4] this includes white balance, exposure, gamma, and CCM adjustments. We evaluate a diverse set of 25 held-out scenes which vary in content (indoor/outdoor), spatial characteristics (bounded/umbouudeed) and lighting conditions, as shown in the Supplementary. For (b) exposure variations, we the MipNeRF3360 VV dataset released by Luminance-Gr GS (Cui et al. 2025). which is based on the unbounded MipNeRF 360 dataset (Barron et al., 2022) with varying exposure and gamma correction. For (c) real-captured scenes, we evaluate on the real-world captured BilaRF dataset (Wang et al. 2024a), comprising mainly of nighttime scenes captured with flash illumination, posing real-world appearance shifts.
Baselines. We compare against state-of ofate--f-thee cate--fftheeaeee
the-hhr art methods that incorporate appearance modeling into 3DGS: WildGaussians (Kulhanek et al.
2024). GS-W (Zhang et al. (202)). Luminance-Gi (Cui et al.,
2025), , and 3DGS-4DBAG (Xiao et al. 2025 which jointly optimizes 3DGS and 4D bilateral grids.
We also compare to vanilla 3DGS (Kerbl et al.] (023) (fast version from Taming-GS (Mallick et al.)
2024 ), 2DGS (Huang et al. 2024a). and DashGS (Chen et al. 2025).
Metries. Quantitative evaluation is conducted using PSNR, SSIM, and LPIPS. When using appear- ance embeddings, the reconstructed color space may differ from the ground truth, leading to unfairly low scores despite accurate geometry. To address this, per- per-channel global affine color correction (CC) is applied to the rendered images, following (Wang et al. 2024a Xiao al. 2025 Mildenhall et al, 2021).
metrics provide a more reliable measure of geometric quality under color discrepancies. Processing time mid-range GPU is also reported, including bilateral grid
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Table Comparison of our model combined with baseline 3D reconstruction methods, the baselines alone, and approaches using appearance embeddings. CC indicates per-channel affine color correction. Reported times include scene fitting; for our model, they also include processing overhead.
Dataset
Method
PSNK PSNR CC
SSIM SSIM CC
LPIPS
LPIPS CC
Time (s)
DL3DV dotaser ISP variation
2DGS (Huang 2024a)
22.78
26.81
0.8496
0,8608
0.2829
0.2169
13m 48s
3DGS (Kerhl 2023
21.43
26.25
0.8553
0.8749
0.2712
0.2069
3m 39g
DashGS (Chen
2025
23.35
28.17
0.8916
0.9029
0.2357
0.1782
3m 12s
WildGaussians (K Lulckakk of
2024
18.15
24.08
0.7663
0.8188
0,3050
0.2567
2h 10m 31s
GS-W (hang al 2024
19.34
26.29
0.7910
0.8420
0,3092
0,2375
35m 54s
Luminance-(i. (Cui al.
2025
20.00
26.14
0.7962
0.8466
0.2975
0.2290
14m 29,
2DGS + Ours
24.97
26.92
0.8564
0,8621
0,2312
0.2236
14m 38
3DGS + Ours
25.26
27.28
0.8650
0.8753
0.2191
0.2118
3m 55s
DashGS Ours
26.45
28.92
0.8953
0.9035
0.1794
0.1703
3m 278
MipNeRF360-V VE
2DGS Huang ct al
2024a
16.75
22.03
0.5588
0.6724
0.3646
0.3622
25m 38s
3DGS Kerbi et al 2023
16.50
21.00
0.5896
0.6715
0,3432
0.3517
4m 7s
DashGā (Chen ml.
2025
17.01
21.94
0.6043
0.7052
0.3212
0.3221
3m 38
WildGaussians [Kuchankk al.
2024
18.90
25.35
0.6470
0.7278
0.3261
0.3193
2h
GS-W (hang el a (U244)
25.81
0.5256
0.7580
0.3385
0,2912
48m 45s
Luminance-GSS
2025
18.12
23.12
0.6641
0.7352
0.3043
0.2851
22m 16s
2DGS Ours
18.99
26.37
0.7528
0,8125
0.2610
0,2446
25m 50s
3DGS Ours
18.34
26.25
0.7554
0.8149
0.2592
0.2428
4m 19s
DashGS Ours
18.19
26.21
0.7507
0.8131
0.2610
0.2435
3m 14s
BilaRF dataser
2DGS (Hung et 2024a
23.43
0.746
0.308
13m 26s
3DGS (Kerbl 2023
24.23
0,8019
0.2594
3m 43s
DashGS (Chen
2025
24.34
0,7880
0.2607
3m 46s
WildGaussians Kulhaack et
2024
23.19
0.7424
0.3121
Ih 58m 06s
GS-W Zhang
2024)
24.94
0.8056
0,2764
40m 34s
Luminance GS (Cui al
2025
23.41
0.7931
0,2750
18m 40s
2DGS-4DBAG X180 et a
2025
24.80
0.773
0.273
3DGS-4DBAG X18o et al
2025
24.90
0.774
0.256
2DGS + Ours
25.27
0.8147
0.2499
13m 30s
3DGS + Ours
0.8240
0.2368
3m 48s
DashGS Ours
0.8356
0.2158
50s
Table 2: Comparison with 2D image correction methods on MipNeRF360- VE (Cui et al.
2025)
Motion smoothness and temporal flickering from VBench (Huang et al. 2024b are reported as the
most relevant metrics for video quality under photometric correction.
Comparison 2D Works
PSNR CC
SSIM 1 LPIPS CC
motion smoothness temporal flickering |
CoTF (Li al. 2024)
23.15
0.7573
0.2698
0.8591
0.8364
3.46
MSFC Ann al.
202
23.98
0.7169
0.3359
0.8140
0.7848
7.79
MSLINee
ZZou iZho
2024
24.56
0.7697
0,2697
0.8248
0.7974
3.12
UBC Cun 2024
25.98
0.8143
0,2416
0.8415
0.8124
7.64
Ours
26.25
0.8149
0.2428
0.8707
0.8428
8.59
inference and reference frame selection for our method. We note that all reported inference times include the total time for frame processing and 3DGS reconstruction, and are measured the same GPU architecture to ensure fairness and consistency across methods.
4.1 RESULTTS
Table I reports quantitative results across all three datasets, with qualitative examples in Fig. For all scenes, we employ our reference frame selection strategy (Sec. 3.3): no ground-truth image was used as reference for fair comparison. Despite the distinct characteristics of the three datasets, our method combined with 2DGS, 3DGS, or DashGS significantly outperforms each baseline, with fewer artifacts, and matches surpasses per-scene appearance optimization methods. This demonstrates the robustness and generalizability of our model, and highlights the multi-view consistency leading to improved reconstructions. Moreover, methods with joint optimization of geometry and appearance introduce significant latency; more than doubling the overall training time. Notably, our model efficiently processes large-scale inputs, handling over 300 frames in single forward pass. In practice,
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DI DLLDD
DANNARRAAA VE
Bilak
3DGS
GS W
Luminance GS
WildGaussians
3DGS Ours
Ground Truth
Figure
Qualitative results grouped by dataset: DL3DV, MipNeRF360- VE, and BilaRF.
inference takes only about 2-3 seconds for BilaRF (roughly 30-70 images scene), and up to 15 seconds for DL3DV and MipNeRF360- VE, each containing more than 200 frames per scene.
Table 2 compares our method with 2D image exposure correction baselines prior to running 3DGS. Since these methods primarily target exposure adjustment, conduct the comparison on MipN- eRF360-VE VF dataset, containing mostly exposure-related variations. While these methods perform well on single frames, they lack multi-view consistency, resulting in degraded 3DGS performance. Similar to our method, UEC (Cui et al. 2024) uses an input reference exposure frame, but still operates independently per frame, leading to lower overall performance. For fair comparison, we use the same reference frames for both our method and UEC, selected by reference frame pipeline (Sec. 3.3) Since MipNeRF360- VE scenes contain over 200 frames per scene and our model uses a transformer architecture that processes all views jointly, CHROMA incurs few additional seconds of overhead compared to CNN-based 2D methods that operate per frame. However, this overhead is small relative the overall 3DGS reconstruction time, which takes several minutes, the additional cost does not meaningfully affect the total pipeline runtime.
Table 3: Ablation study. (Top) MipNeRF360 VE dataset
We conduct ablations to isolate the contribution of each model compo- nent. Table 3 reports results on sin- gle vs multi-frame processing, refer- ence frame selection, and the self- supervised loss. For experiments on multi-frame processing and reference frame selection, we MipNeRF330- VE dataset, which exhibits large expo- sure variations across frames.
(Bottom) BilaRF dataset.
Ablation
PSNR CC SSIM CC LPIPS CC
single-frame processing random reference frame
26.19
0.8131
0.2435
25.11
0.7559
0.3089
DINO-based reference frame
25.95
0.7871
0,2758
Ours (full)
26.25
0.8149
0.2428
w/o self-supervised loss
25.21
0.8245
0.2375
L.I-hased self-supervised loss
25.28
0.8227
0.2377
Ours (w/ self-supervised loss)
25.60
0.8240
0.2368
Single-frame processing: We observe that processing single-frame inputs independently yields slightly lower performance than processing the entire sequence in single step. highlighting the importance our transformers ability to leverage cross-view information. Reference frame selection: Simply choosing the first frame the reference, which may be badly exposed contain little

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Published as a conference paper at ICLR 2026
semantic information (e.g. sky), significantly degrades performance. While DINO features help capture semantic similarity, the results show that relying on them alone is insufficient to robustly handle appearance variations, underscoring the importance of our dedicated reference frame selection mechanism. Self-supervised loss: To assess the effect of the self-supervised consistency loss Lss, we evaluate the held-out BilaRF dataset, which contains unpaired scenes with real-world variations. Incorporating L.s enables us to train on real-world unpaired data from the WildRGB-D dataset. This helps bridge the domain gap from synthetic ISP variations (paired DL3DV data) real-wort appearance variations and yields clear gains in real-data performance. In addition, our ablation shows that the VGG-based perceptual loss serves as a more stable and informative regularizer than pixel-wise LI loss. The VGG variant is more robust to low-level photometric noise and misalignment, and it prevents the model from overfitting to minor detail inconsistencies in AnySplat's renderings, leading to noticeably stronger performance.
CONCLUSIONS
We have presented CHROMA, feed-forward transformer framework for multi-view consistent harmonization via bilateral grid prediction. By explicitly enforcing photometric consistency across views, CHROMA integrates with existing 3D reconstruction pipelines without scene-specific op- timization. Leveraging a large pretrained feed-forward model, we enable learning from unpaired data with self-supervision, improving robustness real-world variations. Our reference frame selec- tion strategy identifies representative frame that is both photometrically and semantically reliable. Our experiments show that CHROMA consistently outperforms per-scene appearance embedding baselines, achieving higher reconstruction quality while reducing training overhead.
Future Work. Our model generalizes well real-world appearance variations, and we plan to extend it to fully in-the-wild scenarios by modeling transient objects and integrating with larger 2025]Jiang reconstruction frameworks (Wang et al. 2025 Jiang et al. 2025 Keetha et al. (025)). Unlike recent
scene-specific in wild methods (e.g., Kulhanek et al. (2024); Zhang et al. (2024); Wang et al. (2024b); Bai et al. (2025)), embedding our harmonization module into these models could enable a generalizable, forwadd approach for 3D reconstruction from unconstrained photo collections.
Limitations. Unlike scene-specific approaches that optimize 3DGS and jointly learn view appear- ance embeddings, such Luminance-GS (Cui et al. 2025) or GS-W (Zhang al. 2024). our method requires training a dedicated network for image harmonization, prior to downstream reconstruction. However, once trained, our method provides scene-agnostic, feed-forward harmonization and process hundreds of images in a single pass without any scene-specific optimization. Additionally, our method focuses on correcting camera ISP-induced photometric inconsistencies and does not explicitly handle effects such as specular highlights or reflections. Because bilateral grid transformations are generally smooth, they cannot model high-freque frequerr changes caused by reflectance or strong specularities, which remains limitation of our approach.
ACKNOWLEDGMENTS
This work was partially supported by the National Research Foundation of Korca(NRF) grant funded by the Korea gOVI) (RS-2024-00388439) Institute for Information & Communications Technology Planning & Evaluation (IITP) grant funded by the Korea governmen((MSIT)) RSo 2544 1838 and RS RS-2024-00457882).
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Reviews:
[{"review_id": "XWTDn1C3H8", "reviewer": "Reviewer_u8mx", "summary": "The paper presents a feed-forward approach for appearance adjustments in order to achieve photometric consistency across multiple views that can then improve the accuracy of downstream 3D reconstruction tasks. The proposed method learns spatially varying bilateral grids for edge-aware photometric adjustments. The paper additionally includes a methodology for selecting an appropriate reference frame for photometric alignment, and a self-supervised training paradigm by optimizing over the downstream 3D reconstruction achieved from consistent novel views.", "questions": "See points under the Weakness section", "limitations": "", "rating": 6, "confidence": 3, "soundness": 3, "presentation": 3, "contribution": 3, "strengths": "The paper is well written and theoretically detailed. The overall evaluation presented in the paper is mostly thorough and shows favourable results from the proposed approach. It is particularly interesting to see considerable improvement in 3D reconstruction (Fig 4).\n\nThe theoretical contributions in the paper are more or less incremental when viewed in the context of existing literature, however, they seem to be put together in a coherent manner in the proposed approach. Bilateral grids for per-image appearance editing while enforcing consistency using self and cross attention are the main contributions in my opinion.\n\nSelecting the correct reference frame is quintessential for the success of this approach, and it is good to note that the authors have discussed this at length, considering both extrema of high and low luminosity and avoiding them.\n\nEvaluating the method across three datasets covering synthetic, exposure-stacking and wild scenes is commendable and the proposed method shows favorable results.", "weaknesses": "One of the main challenges in photometric consistency across multiple views is in being able to handle specularities - which is where most methods fail remarkably. While specular surfaces may be significantly challenging to address, varying specularities across views from bright light sources and low dynamic range of sensors is certainly applicable to the proposed approach. I would expect the approach to at least discuss and/or present the performance on some examples.\n\nThe image in column 3 of Figure 10 is particularly confusing. It seems as if a uniform scaling down of the luminance is applied here without any contrast stretching in the input image. However, all the demonstrated methods show varying levels of contrast stretching, including the proposed approach. I presume there is a mismatch between input and generated images, in my opinion.\n\nThere are some examples where the qualitative improvement is not immediately apparent, if at all, in the figures presented in Figure 11.\n\nFigure 4 is where the true impact on geometry is visible on using the proposed approach. If one were to compare 3DGS versus 3DGS+Ours for the Bicycle scene, the fine details in the bicycle and the bench are clearly visible in the proposed method, however, it is not immediately apparent why this may be achieved by photometric consistency across views alone, particularly because of the lack of significant photometric variation in the direction of view for these parts of the scene.\n\nAs is the case with several self-supervised approaches, there is an inherent assumption here that the output of the 3D foundation model (Anysplat) is photometrically reliable. Anysplat itself relies on scene visibility, textural details and implicit sparse depth across views. Some analysis on the self-reinforcement caused by this assumption will be useful to the reader.\n\nThe confidence aware prediction mechanism is appreciated, however, I believe it is also important to illustrate some of the per-pixel confidence maps (l.242) of a few views from the same scene to actually decipher the impact of the proposed method. There is no mention of this in the paper.\n\nGiven the efficiency and easy-integration proposed in the paper, more discussion on temporal consistency may be useful for dynamic scenes and may result in a wider contribution (extending the discussion about Table 2)\n\nAffine warping in a patch based manner (as proposed in the paper) brings with it the likelihood of washing out legitimate scene properties such as shadows - this may be useful from the standpoint of geometric reconstruction, but not so much in terms of photo-realistic view synthesis. I would expect the authors to mention or discuss this point, even if briefly.\n\n2D-only methods like UEC and MSEC are more relevant for comparison in terms of compute time. I would urge the authors to provide that comparison.", "quality": null, "clarity": null, "significance": null, "originality": null, "strengths_and_weaknesses": "", "was_revised": false, "final_justification": "", "rebuttal": "", "claims_and_evidence": "", "methods_and_evaluation_criteria": "", "theoretical_claims": "", "experimental_designs_or_analyses": "", "relation_to_broader_scientific_literature": "", "essential_references_not_discussed": "", "other_strengths_and_weaknesses": "", "other_comments_or_suggestions": "", "questions_for_authors": "", "summary_of_paper": "", "summary_of_recommendation": "", "technical_quality": "", "clarity_of_presentation": "", "potential_impact": "", "robotics_focus": "", "quality_of_limitations": "", "questions_for_rebuttal": "", "reasons_to_accept": "", "reasons_to_reject": "", "questions_to_authors": "", "extra_scores": {}}, {"review_id": "k55dFSlGg8", "reviewer": "Reviewer_UcJY", "summary": "1. This paper studies the task of multi-view appearance harmonization. The goal is to make images of the same scene from different viewpoints consistent in color, exposure, and white balance, which helps improve 3D reconstruction and novel view synthesis quality.\n\n2. Previous works did not focus on feed-forward harmonization. This paper is the first to explore a feed-forward solution for this task.\n\n3. The authors propose a general transformer that predicts a 3D bilateral grid for each view to achieve consistent color mapping. The bilateral grid provides spatial adaptivity and edge preservation, making it effective for modeling ISP-related variations.\n\n4. To train the model, the authors use DL3DV with synthetic ISP augmentations and introduce a rendering consistency loss based on a 3D reconstruction model.", "questions": "Please address the issues listed in the weaknesses section.", "limitations": "", "rating": 4, "confidence": 5, "soundness": 3, "presentation": 3, "contribution": 2, "strengths": "1. The method is technically sound. The bilateral grid is well suited for spatially adaptive and edge-preserving color correction.\n\n2. The experiments are thorough and well validated.", "weaknesses": "1. The authors train the model on DL3DV with handcrafted ISP variations and also test on DL3DV with the same synthetic setup. This limits the significance of the results, since a feed-forward model will naturally perform well under similar handcrafted conditions.\n\n2. In Table 1, the improvement over Luminance-GS on the LOM and BilaRF datasets appears small.", "quality": null, "clarity": null, "significance": null, "originality": null, "strengths_and_weaknesses": "", "was_revised": false, "final_justification": "", "rebuttal": "", "claims_and_evidence": "", "methods_and_evaluation_criteria": "", "theoretical_claims": "", "experimental_designs_or_analyses": "", "relation_to_broader_scientific_literature": "", "essential_references_not_discussed": "", "other_strengths_and_weaknesses": "", "other_comments_or_suggestions": "", "questions_for_authors": "", "summary_of_paper": "", "summary_of_recommendation": "", "technical_quality": "", "clarity_of_presentation": "", "potential_impact": "", "robotics_focus": "", "quality_of_limitations": "", "questions_for_rebuttal": "", "reasons_to_accept": "", "reasons_to_reject": "", "questions_to_authors": "", "extra_scores": {}}, {"review_id": "TdeXryzHMi", "reviewer": "Reviewer_b67S", "summary": "This paper proposes a novel method for multi-view image harmonization in a feed-forward manner. By employing a VGG-style network architecture to predict a pre-frame bilateral grid, the proposed approach achieves harmonized multi-view images with superior reconstruction quality compared to existing methods.", "questions": "1. How would the method perform if all input views contain artifacts or illumination inconsistencies? Is there any mechanism or potential extension that could improve robustness in such cases?\n2. Could the authors provide qualitative or quantitative results on higher-resolution inputs? Since the current experiments are mainly conducted on low-resolution images, it would be helpful to understand how the proposed method performs when applied to higher-resolution data.\n3. Could the authors provide more details about the training data scale? For example, how many multi-view scenes or image pairs were used for training? \n4. How sensitive is the method to the choice of the pretrained 3D foundation model? If a different foundation model were used, how would it affect the overall performance and stability of the system?", "limitations": "", "rating": 6, "confidence": 4, "soundness": 3, "presentation": 3, "contribution": 2, "strengths": "1. The proposed feed-forward framework is novel and well-motivated, effectively improving illumination and color consistency across multiple views and achieving state-of-the-art performance compared to existing methods.\n2. This paper is well-written and easy to read.", "weaknesses": "1.\tThe proposed method relies on the assumption that at least one reference view is reliable. However, in real-world scenarios where all input views contain significant artifacts or inconsistencies, the effectiveness of the proposed framework could be severely degraded.\n2.\tThe method models inter-view inconsistencies using a patch-level bilateral grid, which may lead to visible block artifacts. Although a total variation (TV) loss is applied to alleviate this issue, the results are shown only on low-resolution inputs. It remains unclear whether the approach can maintain similar harmonization quality on high-resolution images, where block boundaries could become more noticeable.\n3.\tThe proposed 3D Foundation Model–based self-supervised loss pipeline can improve performance to some extent, but it heavily depends on the chosen pretrained model and introduces considerable training overhead. Moreover, according to the ablation results, the performance gain from this module is marginal, and it even shows a slight decrease in SSIM, suggesting that the inclusion of this component may not be well justified.", "quality": null, "clarity": null, "significance": null, "originality": null, "strengths_and_weaknesses": "", "was_revised": false, "final_justification": "", "rebuttal": "", "claims_and_evidence": "", "methods_and_evaluation_criteria": "", "theoretical_claims": "", "experimental_designs_or_analyses": "", "relation_to_broader_scientific_literature": "", "essential_references_not_discussed": "", "other_strengths_and_weaknesses": "", "other_comments_or_suggestions": "", "questions_for_authors": "", "summary_of_paper": "", "summary_of_recommendation": "", "technical_quality": "", "clarity_of_presentation": "", "potential_impact": "", "robotics_focus": "", "quality_of_limitations": "", "questions_for_rebuttal": "", "reasons_to_accept": "", "reasons_to_reject": "", "questions_to_authors": "", "extra_scores": {}}, {"review_id": "AeD8BmfRFp", "reviewer": "Reviewer_bJY1", "summary": "The paper propose CHROMA, to handling novel view synthesis under lightness and ISP variances. Unlike previous methods (such as BiLaRF, Luminance-GS, Wild-Gaussian, etc.), which primarily focus on per-scene optimization and often requiring adjustments to per-scene curves, grids, or other attributes. The proposed method adopts a different solution. it trains a network by synthesizing multi-view data with various ISP degradations. This network includes a transformer encoder, decoder, and grid prediction head. Once trained, the network can serve as an effective multi-view pre-processing tool, restoring multi-view images to standard conditions. This enables the training of a range of multi-view reconstruction methods, such as 3DGS, 2DGS, DashGS, and others. Through the comparison, CHROMA achieve the SOTA results on 3 different datasets.", "questions": "While Tables 6 and 7 effectively demonstrate the efficiency gains of the proposed components, it would be equally important to present a comparative analysis of their reconstruction performance. Could the authors provide quantitative results (e.g., PSNR, SSIM, LPIPS) corresponding to the different head designs to offer a more complete picture of the performance-efficiency trade-off?", "limitations": "", "rating": 8, "confidence": 5, "soundness": 3, "presentation": 3, "contribution": 3, "strengths": "1. This work holds significant practical value. Designing a network capable of harmonizing 3D multi-view images is particularly important, especially given the widespread use of smartphone photography and handheld devices, where camera ISP variance and lightness variance are highly prevalent phenomena.\n\n2. This work eliminates the need for per-scene adjustments on each set of multi-view images, significantly reducing complexity. Although it does not constitute a fully end-to-end network (such as Depth-Splat or MVSGaussian), it already demonstrates substantial practical value. Moreover, experimental results show that CHROMA achieves top-tier performance across all benchmark settings.\n\n3. The paper features an intelligently designed network architecture that effectively reduces inference time and memory consumption (as demonstrated in Table 6 and Table 7), while the writing remains exceptionally fluid throughout.", "weaknesses": "1. In summary, this work represents a solid incremental contribution by applying a proven approach, as opposed to formulating a new research problem. Thus I consider its maturity and novelty to be appropriate for a poster, but not sufficient to meet the higher bar for an oral presentation.\n\n2. Regarding the results labeled \"+ours\" in Table 1, does the reported time include the duration required for the CHROMA network to process the multi-view images? Overall, the reported speed of the proposed method seems almost implausible—for instance, it adds only 0.04s on the BiLaRF dataset. This could easily mislead readers. If such efficiency is indeed achievable, the authors should provide a clear explanation. Additionally, it is important to note whether the inference speed of CHROMA has been evaluated across different GPU hardware.\n\n3. Furthermore, compared to methods like Luminance-GS and GS-W, the authors' approach requires training a network from scratch, which should be explicitly mentioned in the Limitations section.", "quality": null, "clarity": null, "significance": null, "originality": null, "strengths_and_weaknesses": "", "was_revised": false, "final_justification": "", "rebuttal": "", "claims_and_evidence": "", "methods_and_evaluation_criteria": "", "theoretical_claims": "", "experimental_designs_or_analyses": "", "relation_to_broader_scientific_literature": "", "essential_references_not_discussed": "", "other_strengths_and_weaknesses": "", "other_comments_or_suggestions": "", "questions_for_authors": "", "summary_of_paper": "", "summary_of_recommendation": "", "technical_quality": "", "clarity_of_presentation": "", "potential_impact": "", "robotics_focus": "", "quality_of_limitations": "", "questions_for_rebuttal": "", "reasons_to_accept": "", "reasons_to_reject": "", "questions_to_authors": "", "extra_scores": {}}]

Author rebuttal:

Decision: Accept (Poster)