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2D GauSS-MI: Efficient Active Scene Reconstruction with Balanced Visual and Geometric Quality

arXiv · AI, language, vision and robotics · article · Sep 18, 2026 · UTC

Active reconstruction requires efficient active view selection to achieve high-quality reconstruction within limited onboard computational resources. Existing methods face challenges in adequately balancing visual and geometric quality with the computational efficiency required for real-time operation. In this work, we present an active reconstruction framework based on 2D Gaussian Splatting (2DGS). We develop an efficient online 2DGS mapping pipeline for incremental RGB-D observations and introduce a probabilistic reliability model that characterizes the view-dependent reconstruction quality

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