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arXiv · 2609.34176

AGILE-GS: Anchor-Guided Fast Next-Best-View Selection for Active 3D Gaussian Splatting

Amirhossein Mollaei Khass·Nader Motee
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Abstract

Radiance fields need hundreds of views, and their placement matters as much as their number. Next-best-view (NBV) selection for 3D Gaussian Splatting (3DGS) usually scores every candidate in the pool and keeps one. Searching for information and choosing a camera, however, are separable problems. We present AGILE-GS, an anchor-guided NBV method that separates the two. A virtual anchor pose is optimized on SE(3) by Riemannian gradient ascent on expected information gain. It need not be reachable or in the pool; it marks where the model is most uncertain. Candidates are scored against the anchor's viewing geometry, and a greedy ridge-leverage step distills the pool into a small, non-redundant shortlist without rendering any candidate. The shortlist can be used in two ways. AGILE-GS takes the first view on it as the next view, so no Fisher information is computed for any candidate. AGILE-GS+ computes the Fisher information gain of each shortlisted view and picks the best, so the expensive evaluation runs on a handful of views rather than the whole pool. On standard benchmarks and in closed-loop embodied acquisition, both match or exceed existing baselines while cutting selection latency by one to two orders of magnitude.

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BibTeXRIS

Amirhossein Mollaei Khass, Nader Motee. 2026-09-28. AGILE-GS: Anchor-Guided Fast Next-Best-View Selection for Active 3D Gaussian Splatting. https://arxiv.org/abs/2609.34176

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