In this paper, we present a novel algorithm for quantifying uncertainty and information gained within 3D Gaussian Splatting (3D-GS) through P-Optimality. While 3D-GS has proven to be a useful world model with high-quality rasterizations, it does not natively quantify uncertainty or information, posing a challenge for real-world applications such as 3D-GS SLAM. We propose to quantify information gain in 3D-GS by reformulating the problem through the lens of optimal experimental design, which is a classical solution widely used in literature. By restructuring information quantification of 3D-GS through optimal experimental design, we arrive at multiple solutions, of which T-Optimality and D-Optimality perform the best quantitatively and qualitatively as measured on two popular datasets. Additionally, we propose a block diagonal covariance approximation which provides a measure of correlation at the expense of a greater computation cost.

Increased software maintainability can help improve a company's profitability by directly reducing ongoing software development costs. Abstraction Layered Architecture (ALA) is a reference architecture for building maintainable applications, but its effectiveness in commercial projects has remained unexplored. This research, carried out as a 16-month joint industry-academic project, explores developing commercial code bases using ALA and the extent to which ALA improves maintainability. An existing application from Datamars, New Zealand, was re-developed by using ALA and compared with the original application. In order to carry out these comparisons, we developed suitable measures by adapting maintainability characteristics from the ISO 25010 family of standards. Specifically, we determined metrics to capture the five sub-characteristics of maintainability: modularity, reusability, analysability, modifiability, and testability; and used them to test our hypothesis that the use of ALA improved maintainability of the application. During the evaluation, we found that the modularity, reusability, analysability, and testability of the re-developed ALA application were higher than for the original application. The modifiability of the ALA-based application was lower in the short-term, but shown to trend upwards in the longer term. Our findings led to proposing a generalised ALA-based development method that promises a significant reduction in maintenance costs.