2DGS-Planner: Rasterization-based Path Planning in 2D Gaussian Splatting Map
2DGS-Planner is a path planner for ground robots that uses rasterization to read geometry directly from a 2D Gaussian Splatting (2DGS) map instead of treating individual Gaussians as obstacles. It constructs a roadmap using structural scores derived from rendered normal dispersion to guide node sampling and refine paths using cached local clearance fields.