Indoor 3D Digital Twin Reconstruction Pipeline

The GitHub repository for this project can be found here

The Gaussian Splatting Toolkit is an innovative open-source framework that focuses on new view synthesis using Gaussian splatting techniques. Built on top of nerfstudio and specifically designed for robotics research, this toolkit provides a comprehensive suite of tools for 3D scene reconstruction and rendering.

Key Features

• Camera calibration and depth alignment capabilities
• Advanced training pipeline for Gaussian splatting
• Depth supervision support (both sensor and mono depth estimation)
• State-of-the-art mesh extraction functionality
• Robust visualization and rendering tools

The toolkit has gained recognition in the field, being integrated into the MANI Foundation Model, demonstrating its practical value in advanced 3D reconstruction applications.

Impact

Developed with both researchers and practitioners in mind, this toolkit simplifies the complex process of 3D scene reconstruction while maintaining high-quality results. It’s particularly valuable for robotics applications where accurate scene understanding and reconstruction are crucial.