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TRACE: Privacy-Preserving Next-Best-View Selection over Distributed 3D Gaussian-Splat Maps
Share the light, not the map. We study next-best-view selection for a team of robots, each of which builds its own 3D Gaussian Splatting map and keeps it private. A robot picks the view with the largest expected information gain (EIG) about the splats along its own path. This gain depends on the oth
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