sceneforge results

← all captures

8-frame

session_20260901_180746
8 handheld frames, the first end-to-end test. Too sparse to judge reconstruction quality -- kept for the method comparisons made on it.
shot

sceneforge pipeline

COLMAP poses, Gaussian-splat background, TSDF mesh, MuJoCo scene. The full nine stages.

lab_colmap all nine stages →

views 8pose backend colmapscale m/unit 0.2224verify PSNR 20.0gaussians 600,000scene compiles
lab_colmap_compare.jpg0.2 MB ↓
lab_colmap_compare.mp42.0 MB ↓
lab_colmap_holds.jpg0.1 MB ↓
lab_colmap_holds.mp41.0 MB ↓
lab_colmap_path.jpg0.1 MB ↓
lab_colmap_path.mp43.9 MB ↓
lab_colmap_robot_masks.png1.2 MB ↓
lab_colmap_sim_only.jpg0.0 MB ↓
lab_colmap_sim_only.mp40.1 MB ↓
lab_colmap_splat_only.jpg0.1 MB ↓
lab_colmap_splat_only.mp40.9 MB ↓
lab_colmap_verify_frame003.png1.1 MB ↓

lab_e2e all nine stages →

views 8pose backend colmapscale m/unit 0.2096verify PSNR 19.5gaussians 150,000scene compiles
lab_e2e_compare.jpg0.2 MB ↓
lab_e2e_compare.mp42.2 MB ↓
lab_e2e_flythrough.jpg0.1 MB ↓
lab_e2e_flythrough.mp46.6 MB ↓
lab_e2e_holds.jpg0.1 MB ↓
lab_e2e_holds.mp41.1 MB ↓
lab_e2e_labels_overlay.png1.3 MB ↓
lab_e2e_mujoco_only.jpg0.0 MB ↓
lab_e2e_mujoco_only.mp40.4 MB ↓
lab_e2e_orbit.jpg0.1 MB ↓
lab_e2e_orbit.mp45.4 MB ↓
lab_e2e_physics.jpg0.1 MB ↓
lab_e2e_physics.mp41.2 MB ↓
lab_e2e_splat_only.jpg0.1 MB ↓
lab_e2e_splat_only.mp41.0 MB ↓

lab_v2 all nine stages →

views 8pose backend colmapscale m/unit 0.2111verify PSNR 19.2gaussians 600,000scene compiles
lab_v2_compare.jpg0.2 MB ↓
lab_v2_compare.mp42.2 MB ↓
lab_v2_holds.jpg0.1 MB ↓
lab_v2_holds.mp41.1 MB ↓
lab_v2_labels_overlay.png1.3 MB ↓
lab_v2_verify_frame003.png1.1 MB ↓

VGGT-1B (feed-forward)

One forward pass over all views: poses and geometry at once, no COLMAP, no segmentation. Scale from the depth map.

VGGT-1B

recon_vggt_flythrough.jpg0.3 MB ↓
recon_vggt_flythrough.mp435.8 MB ↓
recon_vggt_orbit.jpg0.2 MB ↓
recon_vggt_orbit.mp428.6 MB ↓
recon_vggt_render.png1.8 MB ↓

baselines

Prior work, for reference only.

robosnap

baseline_robosnap_orbit.mp41.0 MB ↓