Gaussian Splatting as a Unified Representation for Autonomy in Unstructured Environments
Fuente:
arXiv
Saved in:
| Main Authors: | , , , , , |
|---|---|
| Format: | Preprint |
| Published: |
2025
|
| Subjects: | |
| Online Access: | |
| Tags: |
Add Tag
No Tags, Be the first to tag this record!
|
| _version_ | 1866915291569586176 |
|---|---|
| author | Ong, Dexter Tao, Yuezhan Murali, Varun Spasojevic, Igor Kumar, Vijay Chaudhari, Pratik |
| author_facet | Ong, Dexter Tao, Yuezhan Murali, Varun Spasojevic, Igor Kumar, Vijay Chaudhari, Pratik |
| contents | In this work, we argue that Gaussian splatting is a suitable unified representation for autonomous robot navigation in large-scale unstructured outdoor environments. Such environments require representations that can capture complex structures while remaining computationally tractable for real-time navigation. We demonstrate that the dense geometric and photometric information provided by a Gaussian splatting representation is useful for navigation in unstructured environments. Additionally, semantic information can be embedded in the Gaussian map to enable large-scale task-driven navigation. From the lessons learned through our experiments, we highlight several challenges and opportunities arising from the use of such a representation for robot autonomy. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_11794 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Gaussian Splatting as a Unified Representation for Autonomy in Unstructured Environments Ong, Dexter Tao, Yuezhan Murali, Varun Spasojevic, Igor Kumar, Vijay Chaudhari, Pratik Robotics In this work, we argue that Gaussian splatting is a suitable unified representation for autonomous robot navigation in large-scale unstructured outdoor environments. Such environments require representations that can capture complex structures while remaining computationally tractable for real-time navigation. We demonstrate that the dense geometric and photometric information provided by a Gaussian splatting representation is useful for navigation in unstructured environments. Additionally, semantic information can be embedded in the Gaussian map to enable large-scale task-driven navigation. From the lessons learned through our experiments, we highlight several challenges and opportunities arising from the use of such a representation for robot autonomy. |
| title | Gaussian Splatting as a Unified Representation for Autonomy in Unstructured Environments |
| topic | Robotics |
| url | https://arxiv.org/abs/2505.11794 |