arxivcs.RO2026-06-27
CubifyGS: Object-Centric 3D Gaussian Splatting for Lifelong Dynamic Scene Maintenance
Bohan Ren, Dianyi Yang, Shiyang Liu, Yu Gao, Jiadong Tang, Zhilin Lai, et al.
Lifelong scene mapping under rigid object rearrangement remains a fundamental challenge in robotics. While 3D Gaussian Splatting (3DGS) enables high-fidelity modeling, primitive-level updates often cause persistent ghosting and slow recovery. We propose CubifyGS, an object-level…