visloc-rs — EuRoC indoor scenes, 3D Gaussian Splats
3D Gaussian Splats of the GPS-denied indoor scenes visloc-rs
localizes a UAV in — pick a scene below. The cam0 frames are
posed with the dataset's ground truth (Vicon/Leica), undistorted with
COLMAP, and trained with the official
gsplat MCMC
strategy via scripts/gsplat_mcmc_train.py.
V1_01 is a close-range Vicon room (sharp);
MH_01 is a large, distant machine hall (rougher).
These are the dense scenes; the camera trajectories
visloc-rs estimates through them are in the
3D trajectory viewer. Grayscale single-camera
input, so expect recognisable but imperfect reconstructions. Drag to
orbit, scroll to zoom; pass ?url=<splat-path> for
another splat. Viewer:
antimatter15/splat (MIT) by Kevin Kwok.
← trajectories in 3D.
Use mouse or arrow keys to navigate.
movement (arrow keys)
- left/right arrow keys to strafe side to side
- up/down arrow keys to move forward/back
- space to jump
camera angle (wasd)
- a/d to turn camera left/right
- w/s to tilt camera up/down
- q/e to roll camera counterclockwise/clockwise
- i/k and j/l to orbit
trackpad
- scroll up/down/left/right to orbit
- pinch to move forward/back
- ctrl key + scroll to move forward/back
- shift + scroll to move up/down or strafe
mouse
- click and drag to orbit
- right click (or ctrl/cmd key) and drag up/down to move
touch (mobile)
- one finger to orbit
- two finger pinch to move forward/back
- two finger rotate to rotate camera clockwise/counterclockwise
- two finger pan to move side-to-side and up-down
gamepad
- if you have a game controller connected it should work
other
- press 0-9 to switch to one of the pre-loaded camera views
- press '-' or '+'key to cycle loaded cameras
- press p to resume default animation
- drag and drop .ply file to convert to .splat
- drag and drop cameras.json to load cameras