Preprint
Oct 2026
GOFusion: Real-Time Gaussian-Occupancy Submap Fusion for Fisher-Informed Autonomous Robot Navigation
A rasterizer-integrated Fisher approximation that quantifies per-primitive sensitivity online is introduced, serving as an information-driven heuristic for Gaussian pruning and next-best-view planning and achieves real-time, high-fidelity and uncertainty-aware mapping at scale.
Bo-Xin Bu, Simon Boche, Hao-Ming Zhang et al.
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