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| Hauptverfasser: | , , , |
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| Format: | Preprint |
| Veröffentlicht: |
2026
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| Online-Zugang: | https://arxiv.org/abs/2601.07484 |
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| _version_ | 1866918283847925760 |
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| author | Jin, Xiaofeng Frosi, Matteo Guo, Yiran Matteucci, Matteo |
| author_facet | Jin, Xiaofeng Frosi, Matteo Guo, Yiran Matteucci, Matteo |
| contents | In active reconstruction, an embodied agent must decide where to look next to efficiently acquire views that support high-quality novel-view rendering. Recent work on active view planning for neural rendering largely derives next-best-view (NBV) criteria by backpropagating through radiance fields or estimating information entropy over 3D Gaussian primitives. While effective, these strategies tightly couple view selection to heavy, representation-specific mechanisms and fail to account for the computational and resource constraints required for lightweight online deployment. In this paper, we revisit active reconstruction from a renderability-centric perspective. We propose $\mathbb{R}^{3}$-RECON, a radiance-fields-free active reconstruction framework that induces an implicit, pose-conditioned renderability field over SE(3) from a lightweight voxel map. Our formulation aggregates per-voxel online observation statistics into a unified scalar renderability score that is cheap to update and can be queried in closed form at arbitrary candidate viewpoints in milliseconds, without requiring gradients or radiance-field training. This renderability field is strongly correlated with image-space reconstruction error, naturally guiding NBV selection. We further introduce a panoramic extension that estimates omnidirectional (360$^\circ$) view utility to accelerate candidate evaluation. In the standard indoor Replica dataset, $\mathbb{R}^{3}$-RECON achieves more uniform novel-view quality and higher 3D Gaussian splatting (3DGS) reconstruction accuracy than recent active GS baselines with matched view and time budgets. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2601_07484 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | R3-RECON: Radiance-Field-Free Active Reconstruction via Renderability Jin, Xiaofeng Frosi, Matteo Guo, Yiran Matteucci, Matteo Graphics In active reconstruction, an embodied agent must decide where to look next to efficiently acquire views that support high-quality novel-view rendering. Recent work on active view planning for neural rendering largely derives next-best-view (NBV) criteria by backpropagating through radiance fields or estimating information entropy over 3D Gaussian primitives. While effective, these strategies tightly couple view selection to heavy, representation-specific mechanisms and fail to account for the computational and resource constraints required for lightweight online deployment. In this paper, we revisit active reconstruction from a renderability-centric perspective. We propose $\mathbb{R}^{3}$-RECON, a radiance-fields-free active reconstruction framework that induces an implicit, pose-conditioned renderability field over SE(3) from a lightweight voxel map. Our formulation aggregates per-voxel online observation statistics into a unified scalar renderability score that is cheap to update and can be queried in closed form at arbitrary candidate viewpoints in milliseconds, without requiring gradients or radiance-field training. This renderability field is strongly correlated with image-space reconstruction error, naturally guiding NBV selection. We further introduce a panoramic extension that estimates omnidirectional (360$^\circ$) view utility to accelerate candidate evaluation. In the standard indoor Replica dataset, $\mathbb{R}^{3}$-RECON achieves more uniform novel-view quality and higher 3D Gaussian splatting (3DGS) reconstruction accuracy than recent active GS baselines with matched view and time budgets. |
| title | R3-RECON: Radiance-Field-Free Active Reconstruction via Renderability |
| topic | Graphics |
| url | https://arxiv.org/abs/2601.07484 |