TRACE: Privacy-Preserving Next-Best-View Selection over Distributed 3D Gaussian-Splat Maps
TRACE is a protocol for robot teams to select optimal viewpoints over private 3D Gaussian Splatting maps without sharing raw map data. It works by having robots exchange specific information—transmittance and radiance aggregates—that couple their private maps, allowing them to compute a centralized view value distributively while preserving privacy.