Gaussian Splatting

3D Gaussian Splatting (3DGS) is a scene representation using a collection of 3D Gaussians, each with position, covariance, color, and opacity. 3DGS renders photorealistic novel views at real-time rates and enables fast scene editing. In robotics, 3DGS is used for digital twin construction, manipulation scene understanding, and NeRF-alternative reconstruction.