4 accepted papers
We propose ActiveSplat, an autonomous high-fidelity reconstruction system leveraging Gaussian splatting. Taking advantage of efficient and realistic rendering, the system establishes a unified framework for online mapping, viewpoint selection, and path planning. The key to ActiveSplat is a hybrid ma
Completely capturing the three-dimensional (3D) data of an object is essential in industrial and robotic applications. The task of next-best-view (NBV) planning is to calculate the next optimal viewpoint based on the current data, gradually achieving a complete 3D reconstruction of the object. Howev
More and more robots are required to adsorb or crawl on the 3D curved surface in order to assist humans in some dangerous or tedious tasks. Existing methods on curved surface are merely able to plan in 2.5D environment at best, limiting the applications of the robots. In this letter, we propose an e