A real New York kitchen, reconstructed from photos. You drive the robot through a pinhole; the camera you pick is previewed bottom right, through its lens, and that is what a capture records. Captures are listed at the bottom: click one to view it with its depth, download it or delete it.

W A S D

drive: forward, left, back, right (or hold the keys on screen)

Shift

drive faster

Mouse

turn the robot and tilt its camera: click the view first, Esc to release

C

next camera (Shift+C: previous)

Space

capture a frame

H

hide or show the interface

M

show where the robot can drive

Esc ?

these shortcuts

Scene: Zip-NeRF “nyc” (Barron et al., CC BY 4.0), trained with gsplat, shown with Spark. Lenses: the TwinRobo camera catalog (PSFs from DeepLens).