HGS-Planner: 3Dガウシアンスプラッティングを用いた能動的シーン再構成のための階層的計画フレームワーク
HGS-Planner: Hierarchical Planning Framework for Active Scene Reconstruction Using 3D Gaussian Splatting
3Dガウシアンスプラッティングを活用し、完成度と品質の向上を評価しながら大域・局所計画を統合することで、未知環境を高速かつ高精細に能動再構成する階層的計画手法を提案した。
著者: Zijun Xu, Rui Jin, Ke Wu, Yi Zhao, Zhiwei Zhang, Jieru Zhao, Fei Gao, Zhongxue Gan, Wenchao Ding
分類: cs.RO
原文アブストラクト
In complex missions such as search and rescue,robots must make intelligent decisions in unknown environments, relying on their ability to perceive and understand their surroundings. High-quality and real-time reconstruction enhances situational awareness and is crucial for intelligent robotics. Traditional methods often struggle with poor scene representation or are too slow for real-time use. Inspired by the efficacy of 3D Gaussian Splatting (3DGS), we propose a hierarchical planning framework for fast and high-fidelity active reconstruction. Our method evaluates completion and quality gain to adaptively guide reconstruction, integrating global and local planning for efficiency. Experiments in simulated and real-world environments show our approach outperforms existing real-time methods.
関連論文
- ActiveSplat: ガウススプラッティングによる能動的高精細シーン再構成能動的再構成/3DGS
