Zero-Splat TeleAssist: A Zero-Shot Pose Estimation Framework for Semantic Teleoperation

Abstract

We introduce Zero-Splat TeleAssist, a zero-shot sensor-fusion pipeline that transforms commodity CCTV streams into a shared, 6-DoF world model for multilateral teleoperation. By integrating vision-language segmentation, monocular depth, weighted-PCA pose extraction, and 3D Gaussian Splatting (3DGS), TeleAssist provides every operator with real-time global positions and orientations of multiple robots without fiducials or depth sensors in an interaction-centric teleoperation setup.

Published and Presented at 3rd Workshop on Human-Centric Multilateral Teleoperation in ICRA 2025