We present a novel method for 6-DoF object tracking and high-quality 3D reconstruction from monocular RGBD video. Existing methods, while achieving impressive results, often struggle with complex objects, particularly those exhibiting symmetry, intricate geometry or complex appearance. To bridge these gaps, we introduce an adaptive method that combines 3D Gaussian Splatting, hybrid geometry/appearance tracking, and key frame selection to achieve robust tracking and accurate reconstructions across a diverse range of objects. Additionally, we present a benchmark covering these challenging object classes, providing high-quality annotations for evaluating both tracking and reconstruction performance. Our approach demonstrates strong capabilities in recovering high-fidelity object meshes, setting a new standard for single-sensor 3D reconstruction in open-world environments.
View on arXiv@article{ikeda2025_2505.11905,
title={ GTR: Gaussian Splatting Tracking and Reconstruction of Unknown Objects Based on Appearance and Geometric Complexity },
author={ Takuya Ikeda and Sergey Zakharov and Muhammad Zubair Irshad and Istvan Balazs Opra and Shun Iwase and Dian Chen and Mark Tjersland and Robert Lee and Alexandre Dilly and Rares Ambrus and Koichi Nishiwaki },
journal={arXiv preprint arXiv:2505.11905},
year={ 2025 }
}