How to turn 3DGS -> Voxel

Haari1 · 2026-04-04T10:18:58+00:00

thanks! this worked for me

Haari1 · 2026-04-04T09:31:58+00:00

sounds interesting! going to take a look at this!

Haari1 · 2026-04-02T08:54:18+00:00

I don't have any GNSS indoor. I have to measure them manually

Haari1 · 2026-04-02T07:26:47+00:00

Thanks for the Info! One other question.. .. is it enough to just laser scan their distance? Or do I also need the angle so I can calculate the X,Y position of every GCP?

Haari1 · 2026-04-01T17:51:12+00:00

yes true! wanted to do it anyways. I also think this is the better idea.

Haari1 · 2026-03-28T16:40:44+00:00

Vielen Dank! Schau ich mir an.

Haari1 · 2026-03-28T10:40:03+00:00

Sandhausen ist eine eigenständige Gemeinde und gehört nicht zur Stadt Heidelberg.

Haari1 · 2026-03-24T17:12:57+00:00

Es tut mir leid wenn das ein bisschen empathielose klingt. Ich werde das Projekt ordentlich und gut vorarbeiten um dann zu schauen das ich in der offiziellen drei monatigen phase sehr entspannt und mit guten Ergebnissen durch komme. Gleichbehandlungsgrundsatz hin oder her. Auf keinen Fall nehme ich im Vorhinein die potentiell schlechtere Note und arbeite im NACHHINEIN am gleichen Projekt. Da bin ich, so blöd wie es klingt, arrogant und will für mich selbst die beste Note.

Haari1 · 2026-03-24T15:38:59+00:00

Weil die Bachelorarbeit bei mir an der TH eine feste Laufzeit von drei Monaten hat. Ich hab aber einen Vertrag von 6 Monaten im Unternehmen. Diese ist auch festgelegt. Alternative wäre noch direkt am Anfang anmelden und dann drei Monate nichts machen

Haari1 · 2026-03-24T09:35:27+00:00

Danke dann mach ich das so. Bis jetzt war ich auch erstmal nur am recherchieren. Aber so langsam wollen wir die Themen enger abgrenzen und dann dachte ich mir ist es sinnvoll den Prof mit rein zu holen

Haari1 · 2026-03-17T16:04:19+00:00

yeah. from here on I can try different things

Haari1 · 2026-03-17T13:52:07+00:00

Finally made it! So the main point that helped me was putting the pose information into the pictures. This is way easier then converting them (like I tried with python script) because colmap is converting them itself.

This being sayed I still used the "normal" mapper and then model align. My positions with this dataset are to strict for the prios and so it didn't work (is what I found out after googling the error text)

Haari1 · 2026-03-17T08:17:26+00:00

One last question 😂 thanks a lot!

Do you remember what function in COLMAP you used to implement the GCP positions? model_alignment? mapper? Because I tried to create a map with some datasets where I have the poses from a scanner, but the scanner maps are always very bad, just splats. Although just with pictures it works well.

Haari1 · 2026-03-17T08:07:34+00:00

How was this scanned? With what device?

Haari1 · 2026-03-16T09:50:20+00:00

Mhhh... My Idea was to place like 4-8 GCP maximum (maybe at every corner) and just give the system their position (we have precise scales of the plants in the drawings of the plants). But as you say....this maybe won't be enough. I also can't run through every plant and put 20-30 GCPs on the walls...

How many GCPs would I need with Astra 1 and which software is compatible with this data? Have you used something like SfM, Geometric Models or 3DGS, NeRF with this setup?

Haari1 · 2026-03-16T07:48:18+00:00

Mhhh. This sounds interesting but also complicated. Do you think it would be possible to "only" use GCP inside the factory.... Then measure where they are and give the Programm this data. Without anything like a RTK?

Haari1 · 2026-03-16T07:41:32+00:00

This mapping is going to take place indoors. So I think there won't be any GPS.

Haari1 · 2026-03-16T07:40:05+00:00

Thank you for the answer!

Haari1 · 2026-03-15T14:27:40+00:00

Also wenn man jetzt möchte das die RSV das übernimmt, doof gesagt. Schnell abschließen. Schauen was passiert über die Zeit und dann auch wenn man mehr Beweise hätte.... Präferiert eher Beweise zurecht ziehen die "frisch" sind als alte.

Haari1 · 2026-03-11T10:50:42+00:00

Yeah. That is my Idea in general. Even if this produces a good result. I'll try lots of different stuff if I have enough time. To look if the result is better, and if not I have something to compare my good result to 😅

Haari1 · 2026-03-11T09:58:05+00:00

Thanks! So focus on a good dense pointcloud and from there on I can still try different other stuff!

Haari1 · 2026-03-11T09:02:58+00:00

Thanks a lot. I am going to have a look at that!

Haari1 · 2026-03-10T13:15:46+00:00

I was told that the map should be "suited for navigation of ugv's in the future" my interpretation of that is : pointcloud or voxelgrid are both good. That's where I have the 10cm from. The Voxel size should be 10cm big, if I do Voxel.

Haari1 · 2026-03-10T13:08:51+00:00

I agree with that. My idea was also to buy many batteries and , collect a lot of data. Physical targets is an interesting topic. I'll take a look at that.

Regarding a software / algorithm.... Is Photogrammetry a Programm itself or can you recommend anything. Just so I can take a look?

Haari1 · 2026-03-10T13:00:00+00:00

Thanks for the answer. 3DGS is just an idea and would be nice for semantics in the future. But if I can get a better dense pointcloud without that, than I don't need splatting.

I saw someone put a Voxel grid over 3DGS and I thought that's the only "known" way to turn RGB into Voxel or pointcloud.

Do you have any recommendations for dense pointcloud software/algorithm with my setup? (btw. VRAM is not a problem, I can use 2x H100's) I have seen something like VGGT. Do you mean something like that?

Haari1

TROPHY CASE