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Published at December 3

Multi-robot autonomous 3D reconstruction using Gaussian splatting with Semantic guidance

cs.RO

cs.CV

Released Date: December 3, 2024

Authors: Jing Zeng¹, Qi Ye¹, Tianle Liu¹, Yang Xu¹, Jin Li², Jinming Xu¹, Liang Li¹, Jiming Chen¹

Aff.: ¹Zhejiang University; ²Zhejiang University of Technology

Arxiv: http://arxiv.org/pdf/2412.02249v1

Refer to caption

	Method				QaLdn				Nicut				Oyens
Variant	Pitch	$\mathcal{T}^{rec}$	MA	IKM	PSNR↑	Acc↓	Comp↓	Recall↑	PSNR↑	Acc↓	Comp↓	Recall↑	PSNR↑	Acc↓	Comp↓	Recall↑
V1(Fuel swarm^[26])					19.30	10.15	2.89	0.87	18.10	3.06	2.51	0.90	18.71	3.54	4.65	0.81
V2	✓				21.78	10.25	2.87	0.87	22.12	3.02	2.15	0.92	23.25	3.53	3.62	0.84
V3(AIISRFE swarm^[24])	✓	Surface			19.09	10.64	11.10	0.74	18.00	3.03	10.71	0.78	21.85	3.56	14.79	0.73
V4	✓	Semantics			20.33	10.35	5.38	0.79	21.51	3.03	3.43	0.89	22.56	3.52	10.24	0.75
V5	✓	Semantics	✓		21.89	10.25	2.41	0.89	22.84	3.05	1.91	0.94	23.35	3.54	4.17	0.83
V6(Ours full)	✓	Semantics	✓	✓	22.75	10.04	2.25	0.91	24.28	3.01	1.62	0.95	24.81	3.50	3.36	0.86
Variant	Pitch	$\mathcal{T}^{rec}$	MA	IKM	$T_{task}$	$T_{colla}$	$T_{GP}$	P.L.	$T_{task}$	$T_{colla}$	$T_{GP}$	P.L.	$T_{task}$	$T_{colla}$	$T_{GP}$	P.L.
V1(Fuel swarm^[26])					0.003	0.026	0.56	107.61	0.005	0.007	0.36	89.80	0.005	0.007	0.38	84.83
V2	✓				0.004	0.034	1.00	121.44	0.003	0.015	1.51	103.23	0.003	0.014	1.09	90.97
V3(AIISRFE swarm^[24])	✓	Surface			2.735	0.110	18.77	98.10	2.232	0.103	18.53	93.39	2.785	0.550	18.44	78.68
V4	✓	Semantics			0.799	0.353	10.15	97.19	0.477	0.109	4.12	107.95	0.432	0.231	5.03	108.60
V5	✓	Semantics	✓		0.701	0.241	9.16	144.49	0.421	0.147	4.10	129.46	0.441	0.263	5.56	113.33
V6(Ours full)	✓	Semantics	✓	✓	0.718	0.546	10.92	167.77	0.471	0.253	4.91	131.18	0.437	0.280	5.85	126.46