Next-Best-View Planning

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Overview

Next-best-view planning studies how a robot or sensing system can choose where to look next to improve a 3D reconstruction or answer a task-specific question. Common approaches score candidate views using information gain, Fisher information, coverage, or uncertainty, while learned policies and receding-horizon planners can account for future observations. Applications include 3D reconstruction, aerial and industrial inspection, grasping, localization, and semantic search, where occlusion, reachability, collision risk, and travel cost constrain useful views. A central tension is whether to optimize general geometric completeness or downstream task performance, while keeping view scoring efficient enough for real-time use.

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61 papers9 papers in the last four weeks, down 25% on the four weeks before. 0.1% of all new papers.

  1. Ground Sample Distance Constrained k-Coverage Viewpoint Planning via Set Multi-Cover Formulation

    Oct 27, 2026Waleed Bin Khalid, Chul Min YeumNext-Best-View Planning3D Reconstruction

    Luddy School of Informatics, Computing, and Engineering, Indiana University Bloomington, IN, USA. · Civil and Environmental Engineering, University of Waterloo, ON, Canada.

  2. Object- and Task-Aware Active Perception for Safe Navigation of Mobile Manipulators in Semi-Static Environments

    Oct 21, 2026Jingxing Qian, Xintong Du, Jun Yang +3Safe Robot NavigationRobot Navigation

    University of Toronto Institute for Aerospace Studies (UTIAS) and the Vector Institute for Artificial Intelligence, Canada. · Epson Canada Ltd., Toronto, ON L3R 6G3, Canada. · Learning Systems and Robotics Lab at the Technical University of Munich and the Munich Institute for Robotics and Machine Intelligence (MIRMI), Germany. +2

  3. AOV-GS: Active Open-Vocabulary Semantic Mapping with 3D Gaussian Splatting

    Oct 21, 2026Rodion Shkokov, Tatiana Zemskova, Dmitry YudinSemantic MappingOpen-Vocabulary Semantic Mapping

    Moscow Institute of Physics and Technology (MIPT), Dolgoprudny, Russia · AIRI, Moscow, Russia

  4. GOFusion: Real-Time Gaussian-Occupancy Submap Fusion for Fisher-Informed Autonomous Robot Navigation

    Oct 18, 2026Boxin Bu, Simon Boche, Haoming Zhang +63DGS SLAMRobot Navigation

    Mobile Robotics Lab, Technical University of Munich and ETH Zurich. · Learning Systems & Robotics Lab, Technical University of Munich and Institute of Robotics and Machine Intelligence (MIRMI). · Human-Centered Computing and Extended Reality Lab, TUM University Hospital, Clinic for Orthopedics and Sports Orthopedics, Munich Institute of Robotics and Machine Intelligence (MIRMI). +1

  5. Illumination-Aware Active Perception for Spacecraft Inspection

    Oct 15, 2026Sagarika Rao Valluri, Benjamin RiviereRobotic InspectionActive Visual Perception

    Mechanical and Aerospace Engineering, New York University · Mechanical and Aerospace Engineering and Computer Science, New York University

  6. Receding-Horizon Next-Best-View Planning for Highly Occluded Target Perception

    Oct 13, 2026Ayse Gul Yildiz, Rekha RajaNext-Best-View PlanningRobotic Perception

    School of Artificial Intelligence, Donders Centre for Cognition, Department of Human-Centred Intelligent Systems, Radboud University, Nijmegen, The Netherlands.

  7. TRACE: Privacy-Preserving Next-Best-View Selection over Distributed 3D Gaussian-Splat Maps

    Sep 30, 2026Amirhossein Mollaei Khass, Athanasios Cosse, Qiyu Sun +1Next-Best-View PlanningMulti-Robot Coordination

    Department of Mechanical Engineering and Mechanics, Lehigh University, Bethlehem, PA, 18015, USA

  8. Matisse: Evidence-Space Reasoning for Active 3D Reconstruction

    Sep 30, 2026Xihang Yu, Kaichen Zhou, Lorenzo Shaikewitz +4Next-Best-View Planning3D Reconstruction

    Massachusetts Institute of Technology · National University of Singapore

  9. SafeVantage: Vantage-Aware Memory for Reliable Embodied Decisions

    Sep 29, 2026Sean Hardesty Lewis, Zuyi Guo, Benwang Chen +3Next-Best-View PlanningSelective Prediction

    Massachusetts Institute of Technology · Korea Advanced Institute of Science and Technology · Nanyang Technological University +1

  10. AGILE-GS: Anchor-Guided Fast Next-Best-View Selection for Active 3D Gaussian Splatting

    Sep 28, 2026Amirhossein Mollaei Khass, Nader Motee3D Gaussian SplattingNext-Best-View Planning

    Department of Mechanical Engineering and Mechanics, Lehigh University, Bethlehem, PA, 18015, USA

  11. LiTe-GS: Oracle-Efficient Next Best View Selection for 3D Gaussian Splatting

    Sep 24, 2026Vivek Pandey, Amirhossein Mollaei Khass, Nader MoteeNext-Best-View PlanningActive View Selection

  12. OpenFlyScan: A Quality-Guided Aerial Reconstruction System for Consumer Drones

    Sep 21, 2026Zhongrui You, Zhen Li, Junli Liu +23D Gaussian SplattingAerial Robotics

    Beihang University, Beijing, China. · Shanghai Artificial Intelligence Laboratory, Shanghai, China. · Shanghai Jiao Tong University, Shanghai, China. +1

  13. LEAP-NBV: Lightweight Edge Active-Perception for Foundation-Model Next-Best-View Planning

    Sep 21, 2026Boxun Hu, Jiawei Ge, Axel Krieger +2Active PerceptionNext-Best-View Planning

    Department of Electrical and Computer Engineering, Johns Hopkins University, Baltimore, MD 21218, USA · Department of Mechanical Engineering, Johns Hopkins University, Baltimore, MD 21218, USA · US Army Research Laboratory, Aberdeen Proving Ground, MD 21005, USA

  14. Imagine then Verify: Affordance-Targeted Active Perception for Task-Oriented Grasping in Cluttered Scenes

    Sep 20, 2026Jingzhi Cui, Xuefeng Liu, Feng Han +3Robotic GraspingNext-Best-View Planning

    School of Computer Science and Engineering, Beihang University, Beijing, China · School of Artificial Intelligence, Beihang University, Beijing, China

  15. Splat-CBF: Safe Next-Best-View Control in 3D Gaussian-Splat Maps

    Sep 19, 2026Amirhossein Mollaei Khass, Athanasios Cosse, Nader MoteeRobot NavigationActive Perception

    Department of Mechanical Engineering and Mechanics, Lehigh University, Bethlehem, PA, 18015, USA

  16. INSPECT: Learning Robot View Selection from Assistant Use

    Sep 17, 2026Di Wen, Kailun Yang, Wenhao Guo +7Active PerceptionRobotic Inspection

    Karlsruhe Institute of Technology, Karlsruhe 76131, Germany · Hunan University, Changsha 410012, China · Independent Researcher

  17. Towards Active Cross-View Object Geo-Localization

    Sep 17, 2026Shunyu Yao, Xiaohan Zhang, Zhuoran Yang +5Cross-View Geo-LocalizationNext-Best-View Planning

    College of Information Science and Electronic Engineering, Zhejiang University, Hangzhou 310027, China · College of Computer Science, Beijing University of Technology, Beijing 100124, China · State Key Laboratory of Intelligent Green Vehicle and Mobility, Tsinghua University, Beijing 100084, China +2

  18. PIVOT: Perception-aware Independent Viewpoint Online Optimization

    Sep 16, 2026Yuyang Chen, Shekoufeh Sadeghi, Charuvahan Adhivarahan +4Active PerceptionNext-Best-View Planning

    Department of Computer Science and Engineering, University at Buffalo, Buffalo, NY 14260, USA · Department of Electrical and Computer Engineering, University of Florida, Gainesville, FL 32603, USA

  19. Pose-aware Legged Robot Semantic Exploration with Omnidirectional Perception in Confined Unknown Environments

    Sep 16, 2026Xiaoyang Zhan, Shiyu Chen, Kenji ShimadaLegged RoboticsNext-Best-View Planning

    Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213 USA

  20. AURORA: Active Uncertainty-Driven Re-Orientation for In-Hand Reconstruction

    Sep 8, 2026Feiyu Zhao, Yuetong Li, Chenxi XiaoNext-Best-View Planning3D Reconstruction

    School of Information Science and Technology ShanghaiTech University, China

  21. Diagnosing and Dynamically Filtering Occupancy World Models for Active Mapping

    Sep 6, 2026Jiahui Zhang, Gongbo Liang, Yu ZhangNext-Best-View PlanningWorld Models for Robotics

    Boise State University · Texas A&M University–San Antonio

  22. PASTEL: Panoramic Alignment for Monocular 4D Scene Reconstruction

    Sep 5, 2026Yuankun Yang, Yi Wei, Bo Bai +24D Reconstruction4D Scene Generation

    School of Data Science, Fudan University · Central Media Technology Institute, Huawei

  23. Low-Resolution Perception for Robotic Packing

    Aug 26, 2026Giuseppe Fabio Preziosa, Federico Vignoni, Chiara Castellano +3Robotic PerceptionRobotic Manipulation

    Politecnico di Milano, Piazza Leonardo da Vinci, 32. Milano (Italy).

  24. OccamView: Object-Conditioned View Selection for Frame-Budgeted Active 3D Gaussian Reconstruction

    Aug 17, 2026Hongbo Gao, Wei Zhang, Zeyu Ni +43D ReconstructionNext-Best-View Planning

    Harbin Institute of Technology · The University of Sydney

  25. Observation-Constrained Joint-Space Viewpoint Optimization for Robotic Inspection of Cylindrical Cavities

    Aug 17, 2026Yuezhong Wang, Rongshen Yin, Bichi Zhang +1Robotic InspectionConstrained Motion Planning

    Key Laboratory of Intelligent Perception and Human–Machine Collaboration, Ministry of Education, ShanghaiTech University, Shanghai, China · University of Pennsylvania, Philadelphia, PA, USA

  26. FUSE: Active Functional Affordance Grounding through Adaptive Semantic-Geometric Evidence Acquisition

    Aug 13, 2026Zhou Chen, Sathyanarayanan N. AakurNext-Best-View PlanningActive Sensing

    CSSE Department Auburn University, Auburn, AL, 36849

  27. DA-NBV: A Direction-Aware Next-Best-View Planner for Efficient 3D Reconstruction of Ships at Sea

    Aug 8, 2026Jiaming Chen, Juntao Yang, Zhentao Zou +6Next-Best-View Planning3D Reconstruction

    East China Normal University · Shanghai Jiao Tong University · Beijing University of Technology +1

  28. Iterative Hybrid Discrete-Continuous Viewpoint Planning for UAV Photogrammetry

    Aug 6, 2026Alan Grech, Daniel Pisani, Andre Grima +3Next-Best-View Planning3D Reconstruction

    University of Malta Msida, Malta · Stargate Studios Malta Mosta, Malta

  29. FRA-NBV: A Fast and Reflectivity-Aware Next-Best-View Strategy

    Aug 3, 2026G. F. Preziosa, E. Setti, M. Faroni +2Next-Best-View Planning3D Reconstruction

    Politecnico di Milano, 20133 Milano, Italy

  30. DynActiveGS: Active Gaussian Splatting for Dynamic Scene Reconstruction

    Aug 2, 2026Hongbo Duan, Pengting Luo, Chengzhi Zhao +33D Gaussian SplattingNext-Best-View Planning

    Tsinghua University, Shenzhen International Graduate School Shenzhen, Guangdong, China · Huawei Technologies Ltd Shenzhen, Guangdong, China · Harbin Institute of Technology, Shenzhen Shenzhen, Guangdong, China +1