FOCI: Trajectory Optimization on Gaussian Splats
3D Gaussian Splatting (3DGS) has recently gained popularity as a faster alternative to Neural Radiance Fields (NeRFs) in 3D reconstruction and view synthesis methods. Leveraging the spatial information encoded in 3DGS, this work proposes FOCI (Field Overlap Collision Integral), an algorithm that is able to optimize trajectories directly on the Gaussians themselves.
Evidence notes
- Experiments use ANYmal as the physical evaluation platform.
- The reported results provide an independent evaluation on ANYmal hardware.
Company context
ANYbotics develops autonomous legged robots for industrial inspection in complex and hazardous environments. Its ANYmal platform targets repeatable monitoring, inspection and safety workflows.