2025
FOCI: Trajectory Optimization on Gaussian Splats
Mario Gomez Andreu, Maximum Wilder-Smith, Victor Klemm, Vaishakh Patil, Jesus Tordesillas, Marco Hutter
IROS 2025
3D Gaussian Splatting (3DGS) has recently gained popularity as a faster alternative to Neural Radiance Fields (NeRFs) in 3D reconstruction and view synthesis methods. Leveraging the spatial information encoded in 3DGS, this work proposes FOCI (Field Overlap Collision Integral), an algorithm that is