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Robótica & RL
CubifyGS: Object-Centric 3D Gaussian Splatting for Lifelong Dynamic Scene Maintenance
arXiv:2606.28720v1 Announce Type: new Abstract: Lifelong scene mapping under rigid object rearrangement remains a fundamental challenge in robotics. While 3D Gaussian Splatting (3DGS) enables high-fidelity modeling, primitive-level updates often cause persistent ghosting and slow recovery. We propose CubifyGS, an object-level mapping framework that shifts dynamic maintenance from passive re-optimization to active asset management. CubifyGS models movable instances as reusable Gaussian assets, de...
arXiv cs.RO
·Bohan Ren (Beijing Institute of Technology), Dianyi Yang (Beijing Institute of Technology), Shiyang Liu (Beijing Institute of Technology), Yu Gao (Beijing Institute of Technology), Jiadong Tang (Beijing Institute of Technology), Zhilin Lai (Guangzhou Saite Intelligent Technology Co., Ltd), Yi Yang (Beijing Institute of Technology), Mengyin Fu (Beijing Institute of Technology)
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