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ArXiv:
Tags:
robotics
gaussian-splatting
aerial-reconstruction
unreal-engine
hardware-in-the-loop
arxiv:2609.24253
License:
| pretty_name: OpenFlyScan | |
| license: other | |
| license_name: openflyscan-component-licenses | |
| license_link: https://huggingface.co/datasets/mistletoe235/openflyscan/blob/main/LICENSES/README.md | |
| language: | |
| - en | |
| - zh | |
| tags: | |
| - robotics | |
| - gaussian-splatting | |
| - aerial-reconstruction | |
| - unreal-engine | |
| - hardware-in-the-loop | |
| - arxiv:2609.24253 | |
| # OpenFlyScan | |
| [Paper](https://arxiv.org/abs/2609.24253) · [Project page](https://openflyscan.github.io/) · [Citation](#citation) | |
| Resources for aerial Gaussian-splat reconstruction and drone simulation. | |
| This dataset repository hosts downloadable runtime packages and their associated | |
| scene resources. Training/evaluation code and the trained Quality Predictor | |
| head are in the [main GitHub repository](https://github.com/mistletoe235/OpenFlyScan). | |
| ## Available now | |
| | Resource | Contents | Entry point | | |
| | --- | --- | --- | | |
| | **HIL-simulator v0.1.0 — Expo East** | Linux runtime, preconverted Expo East scene, English HIL monitor and PLY converter | [Download and run](HIL-simulator/README.md) | | |
| The Expo East package opens directly with the **HIL monitor visible**. Without | |
| a connected phone, it remains in the waiting state; an optional software-only | |
| preview is also available. No UE editor or scene conversion is required to | |
| open the included scene. | |
|  | |
| ## Repository layout | |
| ```text | |
| HIL-simulator/ | |
| README.md | |
| linux/v0.1.0/ | |
| OpenFlyScan-HIL-ExpoEast-Linux-v0.1.0.tar.zst | |
| SHA256SUMS | |
| release_manifest.json | |
| docs/ | |
| simulator_quickstart.md | |
| hil_quickstart.md | |
| hil_quickstart_zh.md | |
| manifests/ | |
| scenes.json | |
| previews/ | |
| expo_east_start.png | |
| expo_east_hil_window.png | |
| expo_east_english_panels.png | |
| LICENSES/ | |
| README.md | |
| runtime/ | |
| ``` | |
| This dataset currently contains the simulator package and converted Expo East | |
| scene resources. Standalone GS PLYs and training teacher/cache bundles are not | |
| yet available here. The trained head is already included in the main repository | |
| at `weights/quality_predictor.pt`, together with a small real-feature inference | |
| example; it is not a separate HF download. | |
| ## Code and companion apps | |
| - [OpenFlyScan](https://github.com/mistletoe235/OpenFlyScan): trained head, CPU | |
| example, training/evaluation and the mobile-facing workstation service. | |
| - [OpenFlyScan-UE](https://github.com/mistletoe235/OpenFlyScan-UE): UE source, | |
| scene conversion and HIL integration. | |
| - [App downloads](https://github.com/mistletoe235/OpenFlyScan/releases/tag/preview-20260922): | |
| signed Android V4/V5 APKs and iOS access information. | |
| - [TestFlight requests](https://github.com/mistletoe235/OpenFlyScan/discussions/1): | |
| iOS invitations when an eligible external-testing build is available. | |
| The source repositories and simulator downloads are publicly available. | |
| ## Licensing | |
| The Expo East scene resources use **CC BY 4.0**. Original project code uses | |
| Apache-2.0; NanoGaussianSplatting and other dependencies retain their own terms, | |
| and Unreal Engine remains under Epic's EULA. See [license scope](LICENSES/README.md). | |
| The existing v0.1.0 runtime archive and checksum are unchanged. Updated notices, | |
| the scene license and [Eigen source](HIL-simulator/linux/v0.1.0/THIRD_PARTY_SOURCES/README.md) | |
| are provided alongside it; no replacement runtime download is needed. | |
| ## Citation | |
| If you use OpenFlyScan or these resources in your research, please cite: | |
| ```bibtex | |
| @misc{you2026openflyscanqualityguidedaerialreconstruction, | |
| title = {OpenFlyScan: A Quality-Guided Aerial Reconstruction System for Consumer Drones}, | |
| author = {Zhongrui You and Zhen Li and Junli Liu and Zhigang Wang and Bin Zhao}, | |
| year = {2026}, | |
| eprint = {2609.24253}, | |
| archivePrefix = {arXiv}, | |
| primaryClass = {cs.RO}, | |
| url = {https://arxiv.org/abs/2609.24253} | |
| } | |
| ``` | |