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cs.RO2024★ 1 cited
Multimodal LLM Guided Exploration and Active Mapping using Fisher Information
Wen Jiang, Boshu Lei, Katrina Ashton +1
We present an active mapping system that plans for both long-horizon exploration goals and short-term actions using a 3D Gaussian Splatting (3DGS) representation. Existing methods…
cs.RO2024
Next Best Sense: Guiding Vision and Touch with FisherRF for 3D Gaussian Splatting
Matthew Strong, Boshu Lei, Aiden Swann +3
We propose a framework for active next best view and touch selection for robotic manipulators using 3D Gaussian Splatting (3DGS). 3DGS is emerging as a useful explicit 3D scene rep…
cs.RO2024
Beyond Uncertainty: Risk-Aware Active View Acquisition for Safe Robot Navigation and 3D Scene Understanding with FisherRF
Guangyi Liu, Wen Jiang, Boshu Lei +3
The active view acquisition problem has been extensively studied in the context of robot navigation using NeRF and 3D Gaussian Splatting. To enhance scene reconstruction efficiency…