Distributed risk-aware NBV framework for multi-agent planning using private 3DGS maps, C-ADMM optimization, and AV@R risk scoring that approaches centralized performance with orders-of-magnitude less communication.
Activermap: Radiance field for active mapping and planning,
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Hestia improves generalizable next-best-view planning for 3D reconstruction via hierarchical action search, diverse data, close-greedy strategy, and face-aware voxel design, yielding higher coverage and lower Chamfer distance than prior RL-based methods.
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Hestia: Voxel-Face-Aware Hierarchical Next-Best-View Acquisition for Efficient 3D Reconstruction
Hestia improves generalizable next-best-view planning for 3D reconstruction via hierarchical action search, diverse data, close-greedy strategy, and face-aware voxel design, yielding higher coverage and lower Chamfer distance than prior RL-based methods.