MAGICIAN uses Imagined Gaussians from occupancy networks for efficient coverage gain computation in tree-search based long-horizon planning for active mapping, achieving SOTA results on indoor and outdoor benchmarks.
GLEAM: Learning Generalizable Exploration Policy for Active Mapping in Complex 3D In- door Scenes
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MAGICIAN: Efficient Long-Term Planning with Imagined Gaussians for Active Mapping
MAGICIAN uses Imagined Gaussians from occupancy networks for efficient coverage gain computation in tree-search based long-horizon planning for active mapping, achieving SOTA results on indoor and outdoor benchmarks.