ArtiTwinSplat: Interactable Digital Twin Reconstruction via Gaussian Splatting from RGB-D Videos
Published in ICRA 2026 Workshop on AI-Driven Automation and Robotic System Integration with Digital Twins, 2026
Recommended citation: P. Mishra, R. Zurbrügg, M. Wilder-Smith, M. Hutter, M. Pollefeys, Z. Bauer. (2026). "ArtiTwinSplat: Interactable Digital Twin Reconstruction via Gaussian Splatting from RGB-D Videos." ICRA 2026 Workshop on Advances and Challenges in AI-Driven Automation and Robotic System Integration with Digital Twins, Vienna. https://arxiv.org/abs/2606.24628
A photorealistic, interactable 3D scene reconstruction pipeline based on 3D Gaussian Splatting, extended to dynamic articulated scenes via disentangled background/object Gaussians and RANSAC-based mobility fitting. Presented as a lightning talk and poster. Developed as my Master’s thesis at the CVG Lab, ETH Zürich.
Recommended citation: P. Mishra, R. Zurbrügg, M. Wilder-Smith, M. Hutter, M. Pollefeys, Z. Bauer. (2026). “ArtiTwinSplat: Interactable Digital Twin Reconstruction via Gaussian Splatting from RGB-D Videos.” ICRA 2026 Workshop on Advances and Challenges in AI-Driven Automation and Robotic System Integration with Digital Twins, Vienna.