X-Splat: Unified Gaussian Splatting for Joint RGB and X-ray 3D Reconstruction

arXiv:2610.23237v1 Announce Type: cross Abstract: Jointly reconstructing RGB and X-ray provides new insights by connecting external appearance with internal structure, enabling a more complete understanding of real-world objects than single modality. Yet existing methods train separate models per modality and suffer from redundant geometry, alignment artifacts, and loose coupling that limits cross-modal insight discovery. We propose a unified representation in which all Gaussian primitives share a single set of geometric parameters, with only surface-proximal primitives additionally carrying appearance attributes. We perform cross-modal registration through clean multi-view stereo and X-ray geometric proxies instead of aligning two sets of optimized Gaussians, improving alignment stability. We then jointly optimize the unified representation via supervision from both modalities, complemented by a surface-depth consistency loss derived from X-ray geometry to guide RGB reconstruction. Experiments on the InsideOut dataset and our Flower & Insect dataset show that our framework achieves more robust cross-modal alignment, higher RGB rendering quality without compromising X-ray reconstruction, and a more compact representation than maintaining two independent geometries.