Changjian Jiang*, Kerui Ren*, Xudong Li, Kaiwen Song, Linning Xu, Tao Lu, Junting Dong, Yu Zhang†, Bo Dai, Mulin Yu
PLANING introduces a loosely coupled triangle-Gaussian representation and a monocular streaming framework that jointly achieves accurate geometry, high-fidelity rendering, and efficient planar abstraction for embodied AI applications.
Pipeline of PLANING. We develop a streaming reconstruction framework that takes unposed monocular image sequences as input and comprises a frontend for camera tracking, a backend for global pose optimization, and a mapper for scene reconstruction. Specifically, the mapper incorporates an efficient primitive initialization strategy to reduce redundancy. The recontructed triangle soup further enables efficient planar abstraction, facilitating a range of downstream tasks.