Splatter Joint: 3D Gaussian Splatting for Articulated Objects

Abstract

3D reconstruction methods such as 3D Gaussian Splatting (3DGS), have achieved significant advancements in recent years. However, the study of articulated objects remains limited due to their geometric and dynamic complexity. We propose Splatter Joint, a novel method that models articulated objects, particularly focusing on joints, to capture both the appearance and the geometric information from a few images taken at a single viewpoint. By integrating joint parameters into the 3DGS rendering process in a differentiable manner, we enable the prediction of joint movements while enhancing the accuracy of object appearance reconstruction. We evaluated Splatter Joint on existing and newly created datasets, demonstrating its effectiveness in modeling object appearance and geometry simultaneously.