MAV Exploration for 3D Gaussian Splatting Reconstruction with RTH Feasibility
Overview
A new framework decouples rendering from navigation for MAV-based 3D reconstruction, using 3DGS and TSDF for collision checking and roadmap stability.
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Environment: simulation
“and edges using carved free-space consistency and dense visibility checks, which suppress behind-wall phantom structure and stabilize planning. Viewpoints are selected on the roadmap using a flight-time-budget-aware objective and a lightweight receding-horizon lookahead to improve non-myopic exploration behavior. We evaluate on photorealistic indoor simulation benchmarks (ReplicaCAD, Gibson, and HM3D), reporting rec”
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- arXiv Robotics — research abstractsMAV Exploration for 3D Gaussian Splatting Reconstruction with RTH Feasibility
MAVs enable rapid indoor 3D reconstruction but face flight-time and safety constraints. A topology-first framework decouples rendering from navigation, using 3DGS and TSDF for collision checking and roadmap stability. Results show competitive performance under identical flight-time budgets.
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