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Our pipeline. The 3DGS scene is converted to a voxel grid, which is then used for collision detection. The camera path is generated using the Open Motion Planning Library (OMPL) and smoothed before being exported to Nerfstudio for rendering.
| 3DGS Paper | Bernhard Kerbl, Georgios Kopanas, Thomas Leimkühler, and George Drettakis. 2023. 3D Gaussian Splatting for Real-Time Radiance Field Rendering. arXiv:2308.04079 [cs.GR] https://arxiv.org/abs/2308.04079 |
| OMPL | Ioan A. Şucan, Mark Moll, and Lydia E. Kavraki. 2012. The Open Motion Planning Library. IEEE Robotics & Automation Magazine 19, 4 (December 2012), 72–82. https://doi.org/10.1109/MRA.2012.2205651 https://ompl.kavrakilab.org |
| Nerfstudio | Matthew Tancik, Ethan Weber, Evonne Ng, Ruilong Li, Brent Yi, Justin Kerr, Terrance Wang, Alexander Kristoffersen, Jake Austin, Kamyar Salahi, Abhik Ahuja, David McAllister, and Angjoo Kanazawa. 2023. Nerfstudio: A Modular Framework for Neural Radiance Field Development. In ACM SIGGRAPH 2023 Conference Proceedings (SIGGRAPH ’23). |
| Stonehenge dataset | Splat-Nav: Safe Real-Time Robot Navigation in Gaussian Splatting Maps. arXiv:2403.02751 [cs.RO] https://arxiv.org/abs/2403.02751 |
| Stonehenge Icon | https://en.silhouette-ac.com/silhouette/139528/stonehenge |