GS-LTS: 3D Gaussian Splatting-Based Adaptive Modeling for Long-Term Service Robots

• URL: http://arxiv.org/abs/2503.17733v1
• Date: Sat, 22 Mar 2025 11:26:47 GMT
• Title: GS-LTS: 3D Gaussian Splatting-Based Adaptive Modeling for Long-Term Service Robots
• Authors: Bin Fu, Jialin Li, Bin Zhang, Ruiping Wang, Xilin Chen,
• Abstract summary: 3D Gaussian Splatting (3DGS) has garnered significant attention in robotics for its explicit, high fidelity dense scene representation.<n>We propose GS-LTS (Gaussian Splatting for Long-Term Service), a 3DGS-based system enabling indoor robots to manage diverse tasks in dynamic environments over time.
• Score: 33.19663755125912
• License: http://creativecommons.org/licenses/by-nc-sa/4.0/
• Abstract: 3D Gaussian Splatting (3DGS) has garnered significant attention in robotics for its explicit, high fidelity dense scene representation, demonstrating strong potential for robotic applications. However, 3DGS-based methods in robotics primarily focus on static scenes, with limited attention to the dynamic scene changes essential for long-term service robots. These robots demand sustained task execution and efficient scene updates-challenges current approaches fail to meet. To address these limitations, we propose GS-LTS (Gaussian Splatting for Long-Term Service), a 3DGS-based system enabling indoor robots to manage diverse tasks in dynamic environments over time. GS-LTS detects scene changes (e.g., object addition or removal) via single-image change detection, employs a rule-based policy to autonomously collect multi-view observations, and efficiently updates the scene representation through Gaussian editing. Additionally, we propose a simulation-based benchmark that automatically generates scene change data as compact configuration scripts, providing a standardized, user-friendly evaluation benchmark. Experimental results demonstrate GS-LTS's advantages in reconstruction, navigation, and superior scene updates-faster and higher quality than the image training baseline-advancing 3DGS for long-term robotic operations. Code and benchmark are available at: https://vipl-vsu.github.io/3DGS-LTS.

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