PhotoReg

Photometrically Registering 3D Gaussian Splatting Models

PhotoReg is a novel framework for registering multiple 3D Gaussian Splatting (3DGS) models into coherent, unified representations. This work addresses a critical challenge in multi-robot collaboration: how can robot teams jointly build and share photorealistic environment models?

Key Contributions

  • Scale Consistency: Active enforcement of scale consistency among different 3DGS models using depth estimates
  • Photometric Registration: Iterative refinement with fine-grained photometric losses for high-quality alignment
  • Foundation Model Integration: Leverages 3D foundation models to bridge photorealistic reconstructions and 3D structure prediction
  • Real-world Validation: Rigorous evaluation on benchmark datasets and custom-collected data with quadruped robots
Caption photos easily. On the left, a road goes through a tunnel. Middle, leaves artistically fall in a hipster photoshoot. Right, in another hipster photoshoot, a lumberjack grasps a handful of pine needles.
This image can also have a caption. It's like magic.

You can also put regular text between your rows of images, even citations (missing reference). Say you wanted to write a bit about your project before you posted the rest of the images. You describe how you toiled, sweated, bled for your project, and then… you reveal its glory in the next row of images.

You can also have artistically styled 2/3 + 1/3 images, like these.

The code is simple. Just wrap your images with <div class="col-sm"> and place them inside <div class="row"> (read more about the Bootstrap Grid system). To make images responsive, add img-fluid class to each; for rounded corners and shadows use rounded and z-depth-1 classes. Here’s the code for the last row of images above:

<div class="row justify-content-sm-center">
  <div class="col-sm-8 mt-3 mt-md-0">
    {% include figure.liquid path="assets/img/6.jpg" title="example image" class="img-fluid rounded z-depth-1" %}
  </div>
  <div class="col-sm-4 mt-3 mt-md-0">
    {% include figure.liquid path="assets/img/11.jpg" title="example image" class="img-fluid rounded z-depth-1" %}
  </div>
</div>

References