ExploreGS: a vision-based low overhead framework for 3D scene reconstruction
Journal:
arXiv
Published Date:
May 14, 2025
Abstract
This paper proposes a low-overhead, vision-based 3D scene reconstruction
framework for drones, named ExploreGS. By using RGB images, ExploreGS replaces
traditional lidar-based point cloud acquisition process with a vision model,
achieving a high-quality reconstruction at a lower cost. The framework
integrates scene exploration and model reconstruction, and leverags a
Bag-of-Words(BoW) model to enable real-time processing capabilities, therefore,
the 3D Gaussian Splatting (3DGS) training can be executed on-board.
Comprehensive experiments in both simulation and real-world environments
demonstrate the efficiency and applicability of the ExploreGS framework on
resource-constrained devices, while maintaining reconstruction quality
comparable to state-of-the-art methods.
