LEGS Trains 3.5x Faster Than LERF In Large-Scale Indoor Mapping

LIMITATIONS

We assume a static environment where objects do not move during traversal. This limits the scope of this work because many applications involve dynamic scenes with moving objects. In future work, we will adapt our method to work for dynamic scenes. The motion of the Fetch mobile base can have a large effect on the LEGS reconstruction quality; the high stiction between the robot’s caster wheels and the environment introduces jolts, causing camera pose inaccuracies and image blurs. In the future, we hope to correct this with a new mobile base where the trajectory is autonomously determined by a frontier-based exploration algorithm.

Although autonomous navigation and obstacle avoidance has been extensively studied [57], obstacles can pose a problem when it comes to the 3D Gaussian map if they are only visible in a few of the ground truth images. 3D Gaussians are initialized at the deprojected points from these few images, but there are not enough views to refine and properly train these Gaussians; the result is oddly colored floaters that obstruct some parts of the static scene. When performing natural language queries, LEGS inherits the limitations of LERF + CLIP distillation into 3D described by similar works [1]. In our experimentation, we find that a large scale environment brings additional challenges in querying, particularly in 1) small or far-field objects in the training view, 2) similar item-background color features, such as white objects on white. Language embedded Gaussian splats can also produce false-positives when querying an object that is not in the scene due to the presence of visually or semantically similar objects, which may get incorrectly classified as the query object.

CONCLUSION

In this work, we introduce Language-Embedded Gaussian Splats (LEGS), a system that can train Gaussian Splats online with CLIP embeddings for large-scale indoor scenes. Because of pose accumulation error that builds up in large scenes, we use incremental bundle adjustment to improve pose fidelity for Gaussian Splat training. Results suggest LEGS trains 3.5x faster than LERF with comparable object recall.

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