AGILE-GS: アンカー誘導による高速次善視点選択で能動的3Dガウシアンスプラッティング
AGILE-GS: Anchor-Guided Fast Next-Best-View Selection for Active 3D Gaussian Splatting
3Dガウシアンスプラッティングの次善視点選択を、仮想アンカーポーズの最適化と候補の絞り込みに分離することで高速化し、従来手法と同等以上の性能を達成した。
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著者: Amirhossein Mollaei Khass, Nader Motee
分類: cs.CV, cs.RO
原文アブストラクト
Radiance fields need hundreds of views, and their placement matters as much as their number. Next-best-view (NBV) selection for 3D Gaussian Splatting (3DGS) usually scores every candidate in the pool and keeps one. Searching for information and choosing a camera, however, are separable problems. We present AGILE-GS, an anchor-guided NBV method that separates the two. A virtual anchor pose is optimized on SE(3) by Riemannian gradient ascent on expected information gain. It need not be reachable or in the pool; it marks where the model is most uncertain. Candidates are scored against the anchor's viewing geometry, and a greedy ridge-leverage step distills the pool into a small, non-redundant shortlist without rendering any candidate. The shortlist can be used in two ways. AGILE-GS takes the first view on it as the next view, so no Fisher information is computed for any candidate. AGILE-GS+ computes the Fisher information gain of each shortlisted view and picks the best, so the expensive evaluation runs on a handful of views rather than the whole pool. On standard benchmarks and in closed-loop embodied acquisition, both match or exceed existing baselines while cutting selection latency by one to two orders of magnitude.
