Rajrup Ghosh

Rajrup Ghosh, Haodong Wang, Haoran Hong et al.

Dynamic 3D Gaussian Splatting (3DGS) holds great promise as a 3D video streaming technology since it can represent complex 3D scenes with high fidelity. In this approach, every frame in a 3D video represents the environment as a collection of Gaussians with position and other attributes such as scale, rotation, opacity, and color. Frames capture fine details, permit views from any arbitrary perspective, but are an order of magnitude, or more, larger than 2D video frames. A line of recent work has explored how to compress dynamic 3DGS frames, but these approaches are often slow, in part because their compression techniques are not amenable to efficient acceleration. GS-NFS accelerates dynamic 3DGS compression and decompression on a GPU, to the point where it can encode and decode at full frame rate. It achieves this by developing novel GPU-based parallelizations of existing algorithms for encoding both positions and attributes of Gaussians. As a result, it is 1-2 orders of magnitude faster than the state-of-the-art in encoding and decoding a frame, while offering competitive compression performance and rendering quality.

Fawad Ahmad, Christina Shin, Rajrup Ghosh et al.

This paper presents AeroTraj, a system that enables fast, accurate, and automated reconstruction of 3D models of large buildings using a drone-mounted LiDAR. LiDAR point clouds can be used directly to assemble 3D models if their positions are accurately determined. AeroTraj uses SLAM for this, but must ensure complete and accurate reconstruction while minimizing drone battery usage. Doing this requires balancing competing constraints: drone speed, height, and orientation. AeroTraj exploits building geometry in designing an optimal trajectory that incorporates these constraints. Even with an optimal trajectory, SLAM's position error can drift over time, so AeroTraj tracks drift in-flight by offloading computations to the cloud and invokes a re-calibration procedure to minimize error. AeroTraj can reconstruct large structures with centimeter-level accuracy and with an average end-to-end latency below 250 ms, significantly outperforming the state of the art.