3D Reconstruction using Gaussian Splatting and Simulation Integration

Johns Hopkins University | 2025

Overview

A toy project using 3D Gaussian splatting (Free-SurGS) for 3D reconstruction from images; integrate the reconstructed mesh into AMBF simulator as a static object and enable teleoperation.

Description — Integrated Simulation Scene using the Reconstructed 3D Mesh

Technical Details

Train Free-SurGS on SCARED example dataset
Reconstruct 3D Mesh (PLY and OBJ) from the 3D Gaussian
Integrate the reconstructed mesh into AMBF simulator as a static object

Reconstructed 3D Mesh

Before — Reconstructed meshes in Blender. Left: PLY mesh; Right: OBJ mesh. Note that the color differences of the two meshes are due to the color space differences (sRGB v.s. Linear)

After — Reconstructed meshes in Blender. Left: PLY mesh; Right: OBJ mesh. Note that the color differences of the two meshes are due to the color space differences (sRGB v.s. Linear)

Jack (Haoying) Zhou

Overview

Technical Details

Reconstructed 3D Mesh