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Splat-CBF: Safe Next-Best-View Control in 3D Gaussian-Splat Maps

arXiv · AI, language, vision and robotics · article · Sep 19, 2026 · UTC

Where to look and how to move? A robot navigating an unmapped environment must do both at once, and the two goals pull against each other. The regions most worth observing are the ones the map knows least about, and those are exactly where the robot cannot trust its collision margins. We resolve this tension by introducing Splat-CBF, an active perception control barrier function that steers the camera toward the next best view while collision avoidance is enforced as a hard constraint. Safety is enforced by a risk-aware control barrier function that turns the Average Value-at-Risk of the Gauss

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