Reality Fusion

Reality fusion is a high performance and robust immersive robot teleoperation system that combines the best of both worlds: the high fidelity of neural rendering (3D Gaussian Splattings) and real-time stereoscopic point cloud projection.

Documentations

1. Reality Fusion Unity Project: Documentations for the RealityFusionUnity Unity project and source code for VR robot control applciations.
2. Reality Fusion Native Render Plugin: Instruction for compiling the original 3DGS Cmake project for a Unity native render plugin. Apre-compiled DLL files already avaliable in Assest\Plugins\x86x64 in the Unity project.
3. Reality Fusion Robot Setup: Documentation for setting up the robot, including required packages.

Citation

Link to preprint: Reality Fusion: Robust Real-time Immersive Mobile Robot Teleoperation with Volumetric Visual Data Fusion

@article{reality-fusion,
        author ={Li, Ke  and Bacher, Reinhard and Schmidt, Susanne and Leemans, Wim  and Steinicke, Frank },
        title  ={Reality Fusion: Robust Real-time Immersive Mobile Robot Teleoperation with Volumetric Visual Data Fusion},
        journal={2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
        year   = {2024},
        note   = {to appear}
        }

Contact: [email protected]

Acknowledgment

This work was supported by DASHH (Data Science in Hamburg - HELMHOLTZ Graduate School for the Structure of Matter) with the Grant-No. HIDSS-0002.

License

Please check out INRIA's original license regarding the original implementation of 3DGS.