ActiveGS: 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
ActiveGS: Active Scene Reconstruction Using Gaussian Splatting
RGB-Dカメラを搭載した移動体が未知環境を能動的に探索し、ガウシアンスプラッティングとボクセルマップを組み合わせて高精度な地図を構築する手法を提案。
著者: Liren Jin, Xingguang Zhong, Yue Pan, Jens Behley, Cyrill Stachniss, Marija Popović
分類: cs.RO, cs.CV
原文アブストラクト
Robotics applications often rely on scene reconstructions to enable downstream tasks. In this work, we tackle the challenge of actively building an accurate map of an unknown scene using an RGB-D camera on a mobile platform. We propose a hybrid map representation that combines a Gaussian splatting map with a coarse voxel map, leveraging the strengths of both representations: the high-fidelity scene reconstruction capabilities of Gaussian splatting and the spatial modelling strengths of the voxel map. At the core of our framework is an effective confidence modelling technique for the Gaussian splatting map to identify under-reconstructed areas, while utilising spatial information from the voxel map to target unexplored areas and assist in collision-free path planning. By actively collecting scene information in under-reconstructed and unexplored areas for map updates, our approach achieves superior Gaussian splatting reconstruction results compared to state-of-the-art approaches. Additionally, we demonstrate the real-world applicability of our framework using an unmanned aerial vehicle.
