{"ID":2887811,"CreatedAt":"2026-06-01T04:54:23.091178241Z","UpdatedAt":"2026-06-01T04:54:23.091178241Z","DeletedAt":null,"paper_url":"https://arxiv.org/abs/2508.00354","arxiv_id":"2508.00354","title":"Omni-Scan: Creating Visually-Accurate Digital Twin Object Models Using a Bimanual Robot with Handover and Gaussian Splat Merging","abstract":"3D Gaussian Splats (3DGSs) are 3D object models derived from multi-view images. Such \"digital twins\" are useful for simulations, virtual reality, marketing, robot policy fine-tuning, and part inspection. 3D object scanning usually requires multi-camera arrays, precise laser scanners, or robot wrist-mounted cameras, which have restricted workspaces. We propose Omni-Scan, a pipeline for producing high-quality 3D Gaussian Splat models using a bi-manual robot that grasps an object with one gripper and rotates the object with respect to a stationary camera. The object is then re-grasped by a second gripper to expose surfaces that were occluded by the first gripper. We present the Omni-Scan robot pipeline using DepthAny-thing, Segment Anything, as well as RAFT optical flow models to identify and isolate objects held by a robot gripper while removing the gripper and the background. We then modify the 3DGS training pipeline to support concatenated datasets with gripper occlusion, producing an omni-directional (360 degree view) model of the object. We apply Omni-Scan to part defect inspection, finding that it can identify visual or geometric defects in 12 different industrial and household objects with an average accuracy of 83%. Interactive videos of Omni-Scan 3DGS models can be found at https://berkeleyautomation.github.io/omni-scan/","short_abstract":"3D Gaussian Splats (3DGSs) are 3D object models derived from multi-view images. Such \"digital twins\" are useful for simulations, virtual reality, marketing, robot policy fine-tuning, and part inspection. 3D object scanning usually requires multi-camera arrays, precise laser scanners, or robot wrist-mounted cameras, whi...","url_abs":"https://arxiv.org/abs/2508.00354","url_pdf":"https://arxiv.org/pdf/2508.00354v1","authors":"[\"Tianshuang Qiu\",\"Zehan Ma\",\"Karim El-Refai\",\"Hiya Shah\",\"Chung Min Kim\",\"Justin Kerr\",\"Ken Goldberg\"]","published":"2025-08-01T06:36:19Z","proceeding":"cs.RO","tasks":"[\"cs.RO\",\"cs.CV\"]","methods":"[]","has_code":false}