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<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8">
<meta name="description"
content="TopoGaussian: Inferring Internal Geometric Structures from Visual Clues with Gaussian Splatting and Topology Optimization">
<meta name="keywords" content="3D Gaussian Splatting, Implicit Neurual Surface, Differentiable Simulation">
<meta name="viewport" content="width=device-width, initial-scale=1">
<title>TopoGaussian: Inferring Internal Geometric Structures from Visual Clues with Gaussian Splatting and Topology Optimization</title>
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<section class="hero">
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<div class="container is-max-desktop">
<div class="columns is-centered">
<div class="column has-text-centered">
<h1 class="title is-1 publication-title">TopoGaussian: Inferring Internal Geometric Structures from Visual Clues with Gaussian Splatting and Topology Optimization</h1>
<div class="is-size-5 publication-authors">
<span class="author-block">
<a href="">Anonymous Author(s)</a>
</span>
</div>
<div class="column has-text-centered">
<div class="publication-links">
<!-- PDF Link. -->
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<a href="./static/videos/nerfies_paper.pdf"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="fas fa-file-pdf"></i>
</span>
<span>Paper</span>
</a>
</span>
<!-- <span class="link-block">
<a href="https://arxiv.org/abs/2011.12948"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="ai ai-arxiv"></i>
</span>
<span>arXiv</span>
</a>
</span> -->
<!-- Video Link. -->
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<a href="https://www.youtube.com/watch?v=MrKrnHhk8IA"
class="external-link button is-normal is-rounded is-dark">
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class="external-link button is-normal is-rounded is-dark">
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<span>Code</span>
</a>
</span>
<!-- Dataset Link. -->
<!-- <span class="link-block">
<a href="https://github.com/google/nerfies/releases/tag/0.1"
class="external-link button is-normal is-rounded is-dark">
<span class="icon">
<i class="far fa-images"></i>
</span>
<span>Data</span>
</a> -->
</div>
</div>
</div>
</div>
</div>
</div>
</section>
<section class="section">
<div class="container is-max-desktop">
<!-- Abstract. -->
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Abstract</h2>
<div class="content has-text-justified">
<p>We present <span class="dnerf">TopoGaussian</span>, a mesh-free holistic pipeline for
inferring the interior structure of an opaque object with easily accessible photos and videos as input.</p>
<p>
Traditional approaches require intrusive sensors, operate on expensive equipment, or reconstruct surface information only.
Our pipeline combines Gaussian splatting with a novel particle-based differentiable simulator for hollowed objects.
Based on the gradients from this simulator, we provides two optimizers, including a new shape optimization scheme based on a particle representation,
and a method based on neural implicit surface. The resultant pipeline is holistic and meshless, supporting modeling, simulation, and optimization of
the interior geometry in a hollowed object on a unified point-cloud representation.
</p>
<p>
We showcase the results of our pipeline on several synthetic examples and four real-world tasks, involving rigid and soft objects and
report the successful deduction of their interior designs that lead to visually plausible motions observed in the video input.
Based on the output, we further performed 3D-print and validates the effect of our methods. These results highlight the potential of our pipeline in 3D-vision,
soft-robotics, and manufacturing applications.
</p>
<!-- <p>
We show that <span class="dnerf">Nerfies</span> can turn casually captured selfie
photos/videos into deformable NeRF
models that allow for photorealistic renderings of the subject from arbitrary
viewpoints, which we dub <i>"nerfies"</i>. We evaluate our method by collecting data
using a
rig with two mobile phones that take time-synchronized photos, yielding train/validation
images of the same pose at different viewpoints. We show that our method faithfully
reconstructs non-rigidly deforming scenes and reproduces unseen views with high
fidelity.
</p> -->
</div>
</div>
</div>
<!--/ Abstract. -->
<!-- Method -->
<hr>
<div class="columns is-centered has-text-centered">
<div class="column is-four-fifths">
<h2 class="title is-3">Method</h2>
<div class="content has-text-justified">
<img src="./static/images/overview.png"
class="framework-image"
alt="TopoGaussian overview."/>
<p>
Compared to 3DGS, we achieve global consistency in geometry reconstruction while
maintaining similar rendering quality. Initially, we improve
the modeling of scene geometry attributes by compressing
3D Gaussians into a 2D flat plane representation, which
is used to generate plane distance and normal maps, and
subsequently converted into unbiased depth maps. We then
introduce single-view geometric, multi-view photometric, and
geometric consistency loss to ensure global geometry consistency. Additionally, the exposure compensation model further
improves reconstruction accuracy.
</p>
</div>
</div>
</div>
<hr>
</div>
</section>
<!-- Rigid Body -->
<section class="section"></section>
<div class="container is-max-desktop">
<h2 class="title is-3" style="text-align: center;">Rigid Body</h2>
<div class="image-container">
<h2 class="title is-4">Main Results</h2>
<!-- <img style="width: 90%;" src="./static/images/gallery.jpg"/> -->
<div>
<!-- <div style="float:left;margin-right:10px;writing-mode:vertical-lr">frog</div> -->
<img style="width: 15%;float:left;" src="./static/images/gallery/1/init.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/1/final.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/1/ashung.gif"/>
<!-- <div style="float:left;margin-left:30px;margin-right:10px;writing-mode:vertical-lr">tingzi</div> -->
<img style="width: 15%;float:left;" src="./static/images/gallery/2/init.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/2/final.png"/>
<img style="width: 15%;" src="./static/images/gallery/2/beileiz.gif"/>
</div>
<div>
<!-- <div style="float:left;margin-right:10px;writing-mode:vertical-lr">frog</div> -->
<img style="width: 15%;float:left;" src="./static/images/gallery/3/init.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/3/final.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/3/blub.gif"/>
<!-- <div style="float:left;margin-left:30px;margin-right:10px;writing-mode:vertical-lr">tingzi</div> -->
<img style="width: 15%;float:left;" src="./static/images/gallery/4/init.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/4/final.png"/>
<img style="width: 15%;" src="./static/images/gallery/4/bob.gif"/>
</div>
<div>
<!-- <div style="float:left;margin-right:10px;writing-mode:vertical-lr">frog</div> -->
<img style="width: 15%;float:left;" src="./static/images/gallery/5/init.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/5/final.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/5/cheburashka.gif"/>
<!-- <div style="float:left;margin-left:30px;margin-right:10px;writing-mode:vertical-lr">tingzi</div> -->
<img style="width: 15%;float:left;" src="./static/images/gallery/6/init.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/6/final.png"/>
<img style="width: 15%;" src="./static/images/gallery/6/cow.gif"/>
</div>
<div>
<!-- <div style="float:left;margin-right:10px;writing-mode:vertical-lr">frog</div> -->
<img style="width: 15%;float:left;" src="./static/images/gallery/7/init.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/7/final.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/7/diegom.gif"/>
<!-- <div style="float:left;margin-left:30px;margin-right:10px;writing-mode:vertical-lr">tingzi</div> -->
<img style="width: 15%;float:left;" src="./static/images/gallery/8/init.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/8/final.png"/>
<img style="width: 15%;" src="./static/images/gallery/8/dtorresr.gif"/>
</div>
<div>
<!-- <div style="float:left;margin-right:10px;writing-mode:vertical-lr">frog</div> -->
<img style="width: 15%;float:left;" src="./static/images/gallery/9/init.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/9/final.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/9/fandisk.gif"/>
<!-- <div style="float:left;margin-left:30px;margin-right:10px;writing-mode:vertical-lr">tingzi</div> -->
<img style="width: 15%;float:left;" src="./static/images/gallery/10/init.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/10/final.png"/>
<img style="width: 15%;" src="./static/images/gallery/10/hippo.gif"/>
</div>
<div>
<!-- <div style="float:left;margin-right:10px;writing-mode:vertical-lr">frog</div> -->
<img style="width: 15%;float:left;" src="./static/images/gallery/11/init.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/11/final.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/11/hlin2.gif"/>
<!-- <div style="float:left;margin-left:30px;margin-right:10px;writing-mode:vertical-lr">tingzi</div> -->
<img style="width: 15%;float:left;" src="./static/images/gallery/12/init.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/12/final.png"/>
<img style="width: 15%;" src="./static/images/gallery/12/jacheng.gif"/>
</div>
<div>
<!-- <div style="float:left;margin-right:10px;writing-mode:vertical-lr">frog</div> -->
<img style="width: 15%;float:left;" src="./static/images/gallery/13/init.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/13/final.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/13/jifengy.gif"/>
<!-- <div style="float:left;margin-left:30px;margin-right:10px;writing-mode:vertical-lr">tingzi</div> -->
<img style="width: 15%;float:left;" src="./static/images/gallery/14/init.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/14/final.png"/>
<img style="width: 15%;" src="./static/images/gallery/14/oloid.gif"/>
</div>
<div>
<!-- <div style="float:left;margin-right:10px;writing-mode:vertical-lr">frog</div> -->
<img style="width: 15%;float:left;" src="./static/images/gallery/15/init.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/15/final.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/15/pear.gif"/>
<!-- <div style="float:left;margin-left:30px;margin-right:10px;writing-mode:vertical-lr">tingzi</div> -->
<img style="width: 15%;float:left;" src="./static/images/gallery/16/init.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/16/final.png"/>
<img style="width: 15%;" src="./static/images/gallery/16/pig_triangulated.gif"/>
</div>
<div>
<!-- <div style="float:left;margin-right:10px;writing-mode:vertical-lr">frog</div> -->
<img style="width: 15%;float:left;" src="./static/images/gallery/17/init.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/17/final.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/17/spot.gif"/>
<!-- <div style="float:left;margin-left:30px;margin-right:10px;writing-mode:vertical-lr">tingzi</div> -->
<img style="width: 15%;float:left;" src="./static/images/gallery/18/init.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/18/final.png"/>
<img style="width: 15%;" src="./static/images/gallery/18/teapot.gif"/>
</div>
<div style="margin-top:40px">
<!-- <div style="float:left;margin-right:10px;writing-mode:vertical-lr">frog</div> -->
<img style="width: 15%;float:left;" src="./static/images/gallery/19/init.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/19/final.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/19/tumbler-2.gif"/>
<!-- <div style="float:left;margin-left:30px;margin-right:10px;writing-mode:vertical-lr">tingzi</div> -->
<img style="width: 15%;float:left;" src="./static/images/gallery/20/init.png"/>
<img style="width: 15%;float:left;" src="./static/images/gallery/20/final.png"/>
<img style="width: 15%;" src="./static/images/gallery/20/vmantha.gif"/>
</div>
</div>
<br/>
<div class="image-container">
<h2 class="title is-4">Real-World Validation</h2>
<h3 class="title is-6">Hawk</h3>
<img style="width: 23%;" src="./static/images/hawk/gt.jpg"/>
<img style="width: 23%;" src="./static/images/hawk/init.gif"/>
<img style="width: 23%;" src="./static/images/hawk/opt.png"/>
<img style="width: 23%;" src="./static/images/hawk/inner.png"/>
<br/>
<h3 class="title is-6">Qiqi</h3>
<img style="width: 23%;" src="./static/images/qiqi/gt.gif"/>
<img style="width: 23%;" src="./static/images/qiqi/init.gif"/>
<img style="width: 23%;" src="./static/images/qiqi/opt.gif"/>
<img style="width: 23%;" src="./static/images/qiqi/inner.png"/>
<br/>
<h3 class="title is-6">Tumbler</h3>
<img style="width: 23%;" src="./static/images/tumbler/gt.gif"/>
<img style="width: 23%;" src="./static/images/tumbler/init.gif"/>
<img style="width: 23%;" src="./static/images/tumbler/opt.gif"/>
<img style="width: 23%;" src="./static/images/tumbler/inner.png"/>
<br/>
</object>
</div>
</div>
<script src="./static/js/comparison.js"></script>
</div>
</section>
<!-- Soft Body -->
<section class="section"></section>
<div class="container is-max-desktop">
<h2 class="title is-3" style="text-align: center;">Soft Body</h2>
<div class="image-container">
<h2 class="title is-4">Main Results</h2>
<img style="width: 90%;" src="./static/images/soft_syn.png"/>
</object>
</div>
<br/>
<div class="image-container">
<h2 class="title is-4">Real-World Validation</h2>
<img style="width: 23%;" src="./static/images/hand/gt.jpg"/>
<img style="width: 23%;" src="./static/images/hand/init.png"/>
<img style="width: 23%;" src="./static/images/hand/opt.png"/>
<img style="width: 23%;" src="./static/images/hand/inner.png"/>
</object>
</div>
</div>
<script src="./static/js/comparison.js"></script>
</div>
</section>
<!-- Comparison -->
<section class="section"></section>
<div class="container is-max-desktop">
<h2 class="title is-3" style="text-align: center;">Metrics</h2>
<div class="image-container">
<h2 class="title is-4">Processing Time</h2>
<div style="text-align: center;">
<img style="width: 60%;margin:auto;" src="./static/images/table1.png"/>
</div>
</object>
</div>
<br/>
<div class="image-container">
<h2 class="title is-4">Reconstruction Quality</h2>
<div style="text-align: center;"><img style="width: 60%;margin:auto;" src="./static/images/table2.png"/></div>
</object>
</div>
</div>
<script src="./static/js/comparison.js"></script>
</div>
</section>
<!-- <section class="section" id="BibTeX">
<div class="container is-max-desktop content">
<h2 class="title">BibTeX</h2>
<pre><code>@article{park2021nerfies,
author = {Park, Keunhong and Sinha, Utkarsh and Barron, Jonathan T. and Bouaziz, Sofien and Goldman, Dan B and Seitz, Steven M. and Martin-Brualla, Ricardo},
title = {Nerfies: Deformable Neural Radiance Fields},
journal = {ICCV},
year = {2021},
}</code></pre>
</div>
</section> -->
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<div class="content has-text-centered">
<a class="icon-link"
href="./static/videos/nerfies_paper.pdf">
<i class="fas fa-file-pdf"></i>
</a>
<a class="icon-link" href="https://github.com" class="external-link" disabled>
<i class="fab fa-github"></i>
</a>
</div>
<div class="columns is-centered">
<div class="column is-8">
<div class="content">
<p>We thank <a
href="https://github.com/nerfies/nerfies.github.io">Nerfies</a> for their amazing template.</p>
</div>
</div>
</div>
</div>
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</body>
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