mlsanityData to 14 Oct 2026

POp-GS: Next Best View in 3D-Gaussian Splatting with P-Optimality

arXiv 2503.07819 ↗First posted 10 Mar 2025cs.CV cs.ROcited by 18

Not on the map. Why?

Abstract (arXiv)

In this paper, we present a novel algorithm for quantifying uncertainty and information gained within 3D Gaussian Splatting (3D-GS) through P-Optimality. While 3D-GS has proven to be a useful world model with high-quality rasterizations, it does not natively quantify uncertainty or information, posing a challenge for real-world applications such as 3D-GS SLAM. We propose to quantify information gain in 3D-GS by reformulating the problem through the lens of optimal experimental design, which is a classical solution widely used in literature. By restructuring information quantification of 3D-GS through optimal experimental design, we arrive at multiple solutions, of which T-Optimality and D-Optimality perform the best quantitatively and qualitatively as measured on two popular datasets. Additionally, we propose a block diagonal covariance approximation which provides a measure of correlation at the expense of a greater computation cost.

Key facts. Cited by 18 papers in the map (data through 14 Oct 2026). Builds on 25 of its 47 references that are in the map. First posted on arXiv 10 Mar 2025.

Builds on

25 of 47 references.

References · 25

  1. 2018The Unreasonable Effectiveness of Deep Features as a Perceptual Metriccited by 11,177
  2. 20233D Gaussian Splatting for Real-Time Radiance Field Renderingcited by 6,226
  3. 2021Mip-NeRF 360: Unbounded Anti-Aliased Neural Radiance Fieldscited by 2,032
  4. 2022Block-NeRF: Scalable Large Scene Neural View Synthesiscited by 724
  5. 2023Gaussian Splatting SLAMcited by 415
  6. 2023LangSplat: 3D Language Gaussian Splattingcited by 415
  7. 2021Laplace Redux -- Effortless Bayesian Deep Learningcited by 365
  8. 2023Feature 3DGS: Supercharging 3D Gaussian Splatting to Enable Distilled Feature Fieldscited by 364
  9. 2023GS-SLAM: Dense Visual SLAM with 3D Gaussian Splattingcited by 278
  10. 2018Uncertainty Estimates and Multi-Hypotheses Networks for Optical Flowcited by 135
  11. 2022ActiveNeRF: Learning where to See with Uncertainty Estimationcited by 127
  12. 20243D Gaussian as a New Era: A Surveycited by 104
13 more
  1. 2024PUP 3D-GS: Principled Uncertainty Pruning for 3D Gaussian Splattingcited by 95
  2. 2023Bayes' Rays: Uncertainty Quantification for Neural Radiance Fieldscited by 91
  3. 2022A Survey on Active Simultaneous Localization and Mapping: State of the Art and New Frontierscited by 66
  4. 2023FisherRF: Active View Selection and Uncertainty Quantification for Radiance Fields using Fisher Informationcited by 64
  5. 2024LoopSplat: Loop Closure by Registering 3D Gaussian Splatscited by 60
  6. 2022Unifying Approaches in Active Learning and Active Sampling via Fisher Information and Information-Theoretic Quantitiescited by 28
  7. 2024Modeling Uncertainty in 3D Gaussian Splatting through Continuous Semantic Splattingcited by 12
  8. 2023ConvBKI: Real-Time Probabilistic Semantic Mapping Network with Quantifiable Uncertaintycited by 11
  9. 2024Beyond Uncertainty: Risk-Aware Active View Acquisition for Safe Robot Navigation and 3D Scene Understanding with FisherRFcited by 10
  10. 2024Next Best Sense: Guiding Vision and Touch with FisherRF for 3D Gaussian Splattingcited by 10
  11. 2016Gaussian Process Autonomous Mapping and Exploration for Range Sensing Mobile Robotscited by 8
  12. 2022ExplORB-SLAM: Active Visual SLAM Exploiting the Pose-graph Topologycited by 3
  13. 2021A General Relationship between Optimality Criteria and Connectivity Indices for Active Graph-SLAMcited by 2

Built on by

Cited by year (2026 to 14 Oct)

Citing papers per year: 2025: 4; 2026: 14.

18 papers.

Sort:

By area:

  1. 2025SpeeDe3DGS: Speedy Deformable 3D Gaussian Splatting with Temporal Pruning and Motion Groupingcited by 5
  2. 2026Predictive Photometric Uncertainty in Gaussian Splatting for Novel View Synthesiscited by 5
  3. 2025Active Next-Best-View Optimization for Risk-Averse Path Planningcited by 2
  4. 2026SA-ResGS: Self-Augmented Residual 3D Gaussian Splatting for Next Best View Selectioncited by 2
  5. 2026Active View Selection with Perturbed Gaussian Ensemble for Tomographic Reconstructioncited by 2
  6. 2025Hestia: Voxel-Face-Aware Hierarchical Next-Best-View Acquisition for Efficient 3D Reconstructioncited by 1
  7. 2026Informative Object-centric Next Best View for Object-aware 3D Gaussian Splatting in Cluttered Scenescited by 1
  8. 2026Diversity-aware View Partitioning for Scalable VGGTcited by 1
  9. 2026GO-PRE: Goal-Oriented Next-Best-View Selection via Predictive Rendering Entropy for Active 3D Reconstructioncited by 1
  10. 2025OUGS: Active View Selection via Object-aware Uncertainty Estimation in 3DGScited by 0
  11. 2026Evaluating Time Awareness and Cross-modal Active Perception of Large Models via 4D Escape Room Taskcited by 0
  12. 2026Information-Regularized Constrained Inversion for Stable Avatar Editing from Sparse Supervisioncited by 0
6 more
  1. 2026Scene-SAM3D: Multi-View Scene Asset Generation Without Fine-Tuningcited by 0
  2. 2026FillGS: Filling Observation Gaps in 4D Gaussian Splatting via Viewpoint-Time Selection and Generative Refinementcited by 0
  3. 2026TRACE: Ergodic Trajectory Optimization for Active Scene Reconstructioncited by 0
  4. 2026LiTe-GS: Oracle-Efficient Next Best View Selection for 3D Gaussian Splattingcited by 0
  5. 2026AGILE-GS: Anchor-Guided Fast Next-Best-View Selection for Active 3D Gaussian Splattingcited by 0
  6. 2026UGOD: Uncertainty-Guided Opacity and Dropout for Sparse-View 3D Gaussian Splattingcited by 0

Similar, not cited

Close in wording, no citation either way

  1. 2025LVD-GS: Gaussian Splatting SLAM for Dynamic Scenes via Hierarchical Explicit-Implicit Representation Collaboration Rendering
  2. 2026GSPotential: Camera Potential Field for Sparse-View 3D Gaussian Splatting
  3. 2026GSComplete: Gaussian Splat Completion with 2D Diffusion Priors
  4. 2024GSD: View-Guided Gaussian Splatting Diffusion for 3D Reconstruction
  5. 2025UVGS: Reimagining Unstructured 3D Gaussian Splatting using UV Mapping
  6. 2026Towards Practical Compression of 3D Gaussian Splatting
  7. 2024ELMGS: Enhancing memory and computation scaLability through coMpression for 3D Gaussian Splatting
  8. 2025P-4DGS: Predictive 4D Gaussian Splatting with 90× Compression