3D Gaussian Splatting for Human-Robot Interaction
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Keywords: 3D Gaussian Splatting
Abstract: In order to assist a humans’ ability to make
decisions in uncertain and high-stakes scenarios, e.g., disaster
relief, we aim to provide an interactive and “smart” visual
model of an environment that a human can explore and query.
We contribute a method for photorealistic 3D reconstruction of
a scene from 2D images using improvements to 3D Gaussian
Splatting (3DGS) methods. We showcase our process using a
synthetic scene and showing a high level of fidelity between
the ground truth synthetic scene and the reconstruction. We
visualize the 3D reconstruction through a proof-of-concept web
interface with robot ego-centric and exo-centric views, as well
as semantic labels of objects within the scene, through which
a human can interact. We discuss our ongoing design of one
such human-robot collaborative task using this interface.
Submission Number: 6
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