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.
Uncertainty Guided Pol- icy for Active Robotic 3D Reconstruction Using Neural Ra- diance Fields.IEEE Robotics and Automation Letters, 7(4): 12070–12077, 2022
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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.