用物体感知优化3D重建视角选择,提升有限帧数下的完整度。
OccamView: Object-Conditioned View Selection for Frame-Budgeted Active 3D Gaussian Reconstruction

- 基于物体检测构建动态记忆,用代理区域表示遮挡局部空间。
- 在五种帧预算下均降低完成度、提升完成率,小预算时效果更显著。
- 适合需要高效3D重建的机器人导航与场景扫描任务。
主动3D高斯重建依赖于在有限感知帧数下选择信息量最大的下一视角。现有方法主要依据几何信息增益规划视角,将物体遮挡区域与一般未探索空间同等对待。在严格帧预算下,此类几何驱动策略可能优先全局覆盖,导致部分物体重建不完整。为此,我们提出OccamView,一种面向帧预算约束的物体感知视角选择框架。该方法不预测未见物体几何或进行形状补全,而是从开放词汇检测中构建在线物体记忆,并将检测到物体周围的未解占据表示为保守的隐藏区域代理。候选视角通过考虑遮挡的代理覆盖率进行评估。此外,我们引入Geo-Floor机制,仅对几何上具有竞争力的候选视角进行物体条件重排序,使物体线索引导互补观测,同时保留底层规划器的几何驱动探索行为。在Replica和Matterport3D上的统一帧预算协议实验表明,OccamView在五个帧预算下均持续降低完成度并提升完成率,尤其在低帧预算下表现突出。结果表明,轻量级物体条件线索能有效补充几何驱动的主动视角规划。
原文摘要 · Abstract (English)
Active 3D Gaussian reconstruction fundamentally relies on selecting informative next-best views under limited sensing budgets. Existing active 3DGS methods primarily plan viewpoints according to geometric information gain, treating object-induced hidden regions in the same manner as general unexplored space. Under tight frame budgets, such geometry-driven strategies may prioritize global scene coverage while leaving partially observed objects incompletely reconstructed. To address this limitation, we propose OccamView, an object-conditioned view-selection framework for frame-budgeted active 3D Gaussian reconstruction. Rather than predicting unseen object geometry or performing shape completion, OccamView maintains an online object memory from open-vocabulary detections grounded in measured RGB-D observations and represents unresolved local occupancy around detected objects as conservative hidden-region proxies. Candidate viewpoints are then evaluated using an occlusion-aware proxy-coverage score. Furthermore, we introduce a Geo-Floor mechanism that restricts object-conditioned re-ranking to geometrically competitive candidates, allowing object-conditioned cues to guide complementary observations while preserving the geometry-driven exploration behavior of the underlying planner. Experiments on Replica and Matterport3D under a unified frame-budgeted protocol show that OccamView consistently reduces Completion and improves Completion Ratio across five frame budgets, with particularly pronounced gains under limited frame budgets. These results demonstrate that lightweight object-conditioned cues effectively complement geometry-driven active view planning.
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