Next-Best-View Planning

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11 papers in the last four weeks, against 1 the four weeks before. 0.1% of all new papers.

Jul 13Week of Sep 28

Latest papers 43

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Conflict-Aware Active Perception and Control in 3D Gaussian Splatting Fields via Control Barrier Functions
May 19, 2026Amirhossein Mollaei Khass, Athanasios Cosse, Vivek Pandey +1Active Perception Next-Best-View Planning
Department of Mechanical Engineering and Mechanics, Lehigh University, Bethlehem, PA, 18015, USA
Motion-Uncertainty-Aware Next-Best-View Planning for Moving Object Reconstruction
May 17, 2026Karen Li, Mattia Mantovani, Robert J. Wood +2Next-Best-View Planning Dynamic Scene Reconstruction
Harvard University, Cambridge, MA 02134, USA. · University of Modena and Reggio Emilia, 42122 Reggio Emilia, Italy.
CM-EVS: Sparse Panoramic RGB-D-Pose Data for Complete Scene Coverage
May 15, 2026Jiale Liu, Jungang Li, Jieming Yu +13Next-Best-View Planning 3D Scene Representation
Zhejiang University · Vorynel · The Hong Kong University of Science and Technology (Guangzhou) +4
ASIP-Planner: Adaptive Planning for UAV Surface Inspection in Partially Known Indoor Environments
May 11, 2026Hanyu Jin, Zhefan Xu, Haoyu Shen +3Next-Best-View Planning UAV Navigation
Department of Mechanical Engineering, Carnegie Mellon University, Pittsburgh, PA 15213, USA · Department of Mechanical and Aerospace Engineering, University of California, Davis, Davis, CA 95616, USA
ObjView-Bench: Rethinking Difficulty and Deployment for Object-Centric View Planning
May 11, 2026Sicong Pan, Hao Hu, Xuying Huang +2Next-Best-View Planning 3D Reconstruction
University of Bonn · Independent Researcher
A Bayesian Approach for Task-Specific Next-Best-View Selection with Uncertain Geometry
May 6, 2026Jingsen Zhu, Silvia Sellán, Alexander TereninNext-Best-View Planning 3D Reconstruction
Cornell University, USA · Columbia University, USA
Paparazzo: Active Mapping of Moving 3D Objects
Apr 21, 2026Davide Allegro, Shiyao Li, Stefano Ghidoni +1Next-Best-View Planning Informative Path Planning
University of Padova · 2LIGM, ´Ecole Nationale des Ponts et Chauss´ees, IP Paris, Univ Gustave Eiffel, CNRS
E3VS-Bench: A Benchmark for Viewpoint-Dependent Active Perception in 3D Gaussian Splatting Scenes
Apr 20, 2026Koya Sakamoto, Taiki Miyanishi, Daichi Azuma +6Active Perception Next-Best-View Planning
The University of Tokyo, Japan · National Institute of Informatics, Japan · Institute of Science Tokyo, Japan +3
FC-Vision: Real-Time Visibility-Aware Replanning for Occlusion-Free Aerial Target Structure Scanning in Unknown Environments
Feb 14, 2026Chen Feng, Yang Xu, Shaojie ShenNext-Best-View Planning UAV Navigation
Dept. of Electronic and Computer Engineering, The Hong Kong University of Science and Technology, Hong Kong, China.
SA-ResGS: Self-Augmented Residual 3D Gaussian Splatting for Next Best View Selection
Jan 6, 2026Kim Jun-Seong, Tae-Hyun Oh, Eduardo Pérez-Pellitero +13D Gaussian Splatting Next-Best-View Planning
1POSTECH · 2KAIST · 3Huawei Noah’s Ark Lab +1
Object-Reconstruction-Aware Whole-body Control of Mobile Manipulators
Sep 4, 2025Fatih Dursun, Bruno Vilhena Adorno, Simon Watson +1Next-Best-View Planning Mobile Robotics
Manchester Centre for Robotics and AI, University of Manchester, UK
OA-NBV: Occlusion-Aware Next-Best-View Planning for Human-Centered Active Perception on Mobile Robots
Date pendingBoxun Hu, Chang Chang, Jiawei Ge +4Active Perception Next-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 · Laboratory for Computational Sensing and Robotics, Johns Hopkins University, Baltimore, MD 21218, USA +1
Diagnosing and Dynamically Filtering Occupancy World Models for Active Mapping
Date pendingJiahui Zhang, Gongbo Liang, Yu ZhangNext-Best-View Planning World Models for Robotics
Boise State University · Texas A&M University–San Antonio

May 19, 2026, cs.ROJ/K move · Enter open · S save

Conflict-Aware Active Perception and Control in 3D Gaussian Splatting Fields via Control Barrier Functions

Amirhossein Mollaei Khass, Athanasios Cosse, Vivek Pandey, Nader Motee

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

Active Perception Next-Best-View Planning Control Barrier Functions Safe Motion Planning

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Active perception in uncertain environments requires robots to navigate safely while acquiring informative observations to reduce map uncertainty. These objectives inherently conflict, as informative viewpoints often lie near uncertain regions with higher collision risk. To address this challenge, we develop a conflict-aware active perception and control framework for robotic systems operating in environments represented by 3D Gaussian Splatting (3DGS). Safety is enforced using a Control Barrier Function (CBF) derived from an Average Value-at-Risk AV@R collision-risk metric that accounts for geometric uncertainty and guarantees forward invariance of a safe set. To improve perception, we propose a risk-aware Expected Information Gain (EIG) formulation for selecting the next-best-view and introduce perception barrier functions that align the camera orientation with the local information-ascent direction. To obtain a tractable formulation for these conflicting safety and perception objectives, we propose a unified safety-critical, perception-aware quadratic program that enforces safety as a hard constraint while relaxing perception constraints through slack variables. Simulation results demonstrate that the proposed method improves both safety and information acquisition compared to existing 3DGS-based approaches.

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Latest papers 43