arxivcs.CVcs.RO2026-06-29
GaussLite: Online Task-Conditioned 3D Gaussian Splatting for Real-Time Robotic Mapping
Annika Thomas, Mason Peterson, Jonathan P. How
Existing 3D Gaussian Splatting (3DGS) systems distribute representation capacity uniformly across a scene, ignoring the fact that many downstream robotic tasks engage only a fraction of the reconstructed geometry. This causes valuable onboard compute to be allocated towards optim…