ObjSplat: Geometry-Aware Gaussian Surfels for Active Object Reconstruction

• URL: http://arxiv.org/abs/2601.06997v1
• Date: Sun, 11 Jan 2026 17:14:33 GMT
• Title: ObjSplat: Geometry-Aware Gaussian Surfels for Active Object Reconstruction
• Authors: Yuetao Li, Zhizhou Jia, Yu Zhang, Qun Hao, Shaohui Zhang,
• Abstract summary: Splat is an active reconstruction framework that reconstructs objects with both appearance and accurate geometry.<n>Splat produces physically consistent completeness within minutes, achieving superior reconstruction fidelity and surface completeness compared to state-of-the-art approaches.
• Score: 2.8012387812933035
• License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/
• Abstract: Autonomous high-fidelity object reconstruction is fundamental for creating digital assets and bridging the simulation-to-reality gap in robotics. We present ObjSplat, an active reconstruction framework that leverages Gaussian surfels as a unified representation to progressively reconstruct unknown objects with both photorealistic appearance and accurate geometry. Addressing the limitations of conventional opacity or depth-based cues, we introduce a geometry-aware viewpoint evaluation pipeline that explicitly models back-face visibility and occlusion-aware multi-view covisibility, reliably identifying under-reconstructed regions even on geometrically complex objects. Furthermore, to overcome the limitations of greedy planning strategies, ObjSplat employs a next-best-path (NBP) planner that performs multi-step lookahead on a dynamically constructed spatial graph. By jointly optimizing information gain and movement cost, this planner generates globally efficient trajectories. Extensive experiments in simulation and on real-world cultural artifacts demonstrate that ObjSplat produces physically consistent models within minutes, achieving superior reconstruction fidelity and surface completeness while significantly reducing scan time and path length compared to state-of-the-art approaches. Project page: https://li-yuetao.github.io/ObjSplat-page/ .

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