ResearchBenchmarksMaterial Estimation and Relighting on NaviFollow131Gaussian Splatting Time (s)MatSpray36.64673.571,310.51,947.43Dec 20, 2025Evaluation ResultsMethodMethodLinksGaussian Splatting Time (s)Diffusion Predictions Time (s)Normal Generation (R3DGS) Time (s)Material Optimization Time (s)Total Time (s)MatSprayGPU=NVIDIA RTX 4090GPU=NVIDIA RTX 40902025.121311122709751,488IRGSGPU=NVIDIA RTX 4090GPU=NVIDIA RTX 40902025.122,490——2,8575,347