2DGS-Planner：基于光栅化的2D高斯溅射地图路径规划器
2DGS-Planner: Rasterization-based Path Planning in 2D Gaussian Splatting Map
AI总结：
2DGS-Planner是基于2D高斯溅射地图的地面机器人路径规划器，通过光栅化读取几何信息，实验显示其路线图连通性、 clearance 估计及规划成功率优于基线。
AI中文摘要：
高斯溅射为机器人导航提供了显式且可高效光栅化的场景表示。然而，单个高斯基元可能无法可靠地表示障碍物，因为它们是通过从有限的重建视图进行alpha合成渲染联合优化的。我们提出2DGS-Planner，一种用于地面机器人的路径规划器，它通过光栅化从2D高斯溅射（2DGS）地图中读取与规划相关的几何信息，而非将单个高斯基元视为障碍物。在离线路线图构建阶段，多视图属性将渲染的法向色散转换为重建视图支持的非地面圆盘的结构分数，这些分数指导地面上的自适应节点采样。路径对齐的正交查询验证候选边，而圆柱形查询估计局部 clearance 场并将其缓存在边上。在线规划阶段，图搜索初始化路径，路径细化在考虑机器人尺寸和地面约束的同时复用缓存的场。实验表明，与测试的基线相比，该方法的路线图连通性得到改善， clearance 估计更准确，规划成功率更高。这些结果支持光栅化作为直接在高斯地图上进行规划的有效几何查询接口。代码和数据可在此https URL获取。
英文摘要：
Gaussian splatting provides an explicit and efficiently rasterizable scene representation for robot navigation. However, individual Gaussian primitives may not reliably represent obstacles as they are jointly optimized through alpha-composited rendering from a finite set of reconstruction views. We propose 2DGS-Planner, a path planner for ground robots that reads planning-relevant geometry from a 2D Gaussian splatting (2DGS) map through rasterization, rather than treating individual Gaussian primitives as obstacles. During offline roadmap construction, multi-view attribution converts rendered normal dispersion into structural scores for non-ground disks supported by the reconstruction views. These scores guide adaptive node sampling on the ground. Path-aligned orthographic queries validate candidate edges, while cylindrical queries estimate local clearance fields that are cached on the edges. During online planning, graph search initializes a route, and path refinement reuses the cached fields while accounting for the robot's dimensions and ground constraints. Experiments demonstrate improved roadmap connectivity, more accurate clearance estimation, and higher planning success compared with the tested baselines. These results support rasterization as an effective geometric query interface for planning directly on Gaussian maps. Code and data are available at https://2dgs-planner.github.io/
