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

arXiv:2609.23100 · cs.RO · Submitted 2026-09-19 · Read on arXiv

cs.RO

Submitted: 2026-09-19

Updated: 2026-09-19

Code: https://github.com/isaac-sim/IsaacSim

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Active Perception — 13× in this paper · explained in 2 episodes
• Gaussian Splatting — 9× in this paper · explained in 4 episodes
• Fisher Information — 7× in this paper · explained in 3 episodes
• Information Gain — 7× in this paper · explained in 2 episodes
• 3D Gaussian Splatting — 5× in this paper · explained in 2 episodes
• Ablation — 3× in this paper · explained in 1 episode
• Steering — 3× in this paper · explained in 2 episodes
• 3D Gaussian Splatting (3DGS) — 1× in this paper · explained in 4 episodes
• Ablation study — 1× in this paper · explained in 1 episode
• Active Learning — 1× in this paper · explained in 6 episodes
• Closed-Loop Control — 1× in this paper · explained in 3 episodes
• Consistency — 1× in this paper · explained in 3 episodes
• Control Barrier Functions (CBFs) — 1× in this paper · explained in 4 episodes
• Core — 1× in this paper · explained in 2 episodes
• Redundancy — 1× in this paper · explained in 2 episodes
• alpha — 1× in this paper · explained in 1 episode

Sources

• FastBridge: Closing the Model-Based Realization Gap in Safety Filters on 3D Gaussian Splatting for Fast Quadrotor Flight
• Conflict-Aware Active Perception and Control in 3D Gaussian Splatting Fields via Control Barrier Functions
• Active Next-Best-View Optimization for Risk-Averse Path Planning
• Beyond Uncertainty: Risk-Aware Active View Acquisition for Safe Robot Navigation and 3D Scene Understanding with FisherRF

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