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3DGS-CD

3D Gaussian Splatting-based Change Detection for Physical Object Rearrangement

TLDR: We estimate 3D object-level changes from two sets of unaligned RGB images using 3D Gaussian Splatting as the scene representation, enabling accurate recovery of shapes and pose changes of rearranged objects in cluttered environments within tens of seconds using sparse (as few as one) new images.

Our code and data will be released soon!