HGS-Planner: Hierarchical Planning Framework for Active Scene Reconstruction Using 3D Gaussian Splatting
<|reference_start|>HGS-Planner: Hierarchical Planning Framework for Active Scene Reconstruction Using 3D Gaussian Splatting: 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.<|reference_end|>
@article{xu2024hgs-planner:,
    title={HGS-Planner: Hierarchical Planning Framework for Active Scene
  Reconstruction Using 3D Gaussian Splatting},
    author={Zijun Xu, Rui Jin, Ke Wu, Yi Zhao, Zhiwei Zhang, Jieru Zhao, Fei Gao,
  Zhongxue Gan and Wenchao Ding},
    journal={arXiv preprint arXiv:2409.17624},
    year={2024},
    archivePrefix={arXiv},
    eprint={2409.17624},
    primaryClass={cs.RO}
}