# HGS-Planner: Hierarchical Planning Framework for Active Scene Reconstruction Using 3D Gaussian Splatting

arXiv: https://arxiv.org/abs/2409.17624 · HTML: https://mlsanity.com/paper/2409.17624/

## Key facts

- Cited by 11 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 26 Sep 2024.

## Built on by (most cited first, 11 of 11)

- [ActiveGS: Active Scene Reconstruction Using Gaussian Splatting](https://mlsanity.com/paper/2412.17769/) (2024)
- [ActiveSplat: High-Fidelity Scene Reconstruction through Active Gaussian Splatting](https://mlsanity.com/paper/2410.21955/) (2024)
- [What Is The Best 3D Scene Representation for Robotics? From Geometric to Foundation Models](https://mlsanity.com/paper/2512.03422/) (2025)
- [GauSS-MI: Gaussian Splatting Shannon Mutual Information for Active 3D Reconstruction](https://mlsanity.com/paper/2504.21067/) (2025)
- [Uncertainty-driven 3D Gaussian Splatting Active Mapping via Anisotropic Visibility Field](https://mlsanity.com/paper/2605.30342/) (2026)
- [ObjSplat: Geometry-Aware Gaussian Surfels for Active Object Reconstruction](https://mlsanity.com/paper/2601.06997/) (2026)
- [Coverage Optimization for Camera View Selection](https://mlsanity.com/paper/2604.05259/) (2026)
- [HERE: Hierarchical Active Exploration of Radiance Field with Epistemic Uncertainty Minimization](https://mlsanity.com/paper/2601.07242/) (2026)
- [Sparse View Distractor-Free Gaussian Splatting](https://mlsanity.com/paper/2603.01603/) (2026)
- [ActMVS: Active Scene Reconstruction with Monocular Multi-View Stereo](https://mlsanity.com/paper/2606.01367/) (2026)
- [RefGlass-GS: A UAV-Enabled Fusion Framework for Photorealistic, Semantic and Interactive Digitization of Reflective Glass Facades via Gaussian Splatting](https://mlsanity.com/paper/2606.28826/) (2026)

## Abstract (arXiv)

In complex missions such as search and rescue,robots must make intelligent decisions in unknown environments, relying on their ability to perceive and understand their surroundings. High-quality and real-time reconstruction enhances situational awareness and is crucial for intelligent robotics. Traditional methods often struggle with poor scene representation or are too slow for real-time use. Inspired by the efficacy of 3D Gaussian Splatting (3DGS), we propose a hierarchical planning framework for fast and high-fidelity active reconstruction. Our method evaluates completion and quality gain to adaptively guide reconstruction, integrating global and local planning for efficiency. Experiments in simulated and real-world environments show our approach outperforms existing real-time methods.