{"id":"https://openalex.org/W7135168142","doi":"https://doi.org/10.48550/arxiv.2603.11072","title":"OA-NBV: Occlusion-Aware Next-Best-View Planning for Human-Centered Active Perception on Mobile Robots","display_name":"OA-NBV: Occlusion-Aware Next-Best-View Planning for Human-Centered Active Perception on Mobile Robots","publication_year":2026,"publication_date":"2026-03-10","ids":{"openalex":"https://openalex.org/W7135168142","doi":"https://doi.org/10.48550/arxiv.2603.11072"},"language":null,"primary_location":{"id":"doi:10.48550/arxiv.2603.11072","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.11072","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"type":"preprint","indexed_in":["datacite"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"https://doi.org/10.48550/arxiv.2603.11072","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5029477896","display_name":"Boxun Hu","orcid":"https://orcid.org/0000-0002-0823-4632"},"institutions":[],"countries":[],"is_corresponding":true,"raw_author_name":"Hu, Boxun","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129038399","display_name":"Chang Chang","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Chang, Chang","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5129071052","display_name":"Jiawei Ge","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Ge, Jiawei","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128928879","display_name":"Man Namgung","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Namgung, Man","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5128992703","display_name":"Xiaomin Lin","orcid":null},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Lin, Xiaomin","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"middle","author":{"id":"https://openalex.org/A5008331040","display_name":"Axel Krieger","orcid":"https://orcid.org/0000-0001-8169-075X"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Krieger, Axel","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]},{"author_position":"last","author":{"id":"https://openalex.org/A5084010501","display_name":"Tinoosh Mohsenin","orcid":"https://orcid.org/0000-0001-5551-2124"},"institutions":[],"countries":[],"is_corresponding":false,"raw_author_name":"Mohsenin, Tinoosh","raw_affiliation_strings":[],"raw_orcid":null,"affiliations":[]}],"institutions":[],"countries_distinct_count":0,"institutions_distinct_count":7,"corresponding_author_ids":["https://openalex.org/A5029477896"],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":0,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":null,"last_page":null},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.6180999875068665,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10191","display_name":"Robotics and Sensor-Based Localization","score":0.6180999875068665,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10586","display_name":"Robotic Path Planning Algorithms","score":0.15289999544620514,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11714","display_name":"Multimodal Machine Learning Applications","score":0.0494999997317791,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/visibility","display_name":"Visibility","score":0.734499990940094},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.5806999802589417},{"id":"https://openalex.org/keywords/perception","display_name":"Perception","score":0.5698000192642212},{"id":"https://openalex.org/keywords/usable","display_name":"USable","score":0.536300003528595},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.531499981880188},{"id":"https://openalex.org/keywords/pipeline","display_name":"Pipeline (software)","score":0.4794999957084656},{"id":"https://openalex.org/keywords/obstacle","display_name":"Obstacle","score":0.47940000891685486},{"id":"https://openalex.org/keywords/viewpoints","display_name":"Viewpoints","score":0.4535999894142151}],"concepts":[{"id":"https://openalex.org/C123403432","wikidata":"https://www.wikidata.org/wiki/Q654068","display_name":"Visibility","level":2,"score":0.734499990940094},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.6966999769210815},{"id":"https://openalex.org/C31972630","wikidata":"https://www.wikidata.org/wiki/Q844240","display_name":"Computer vision","level":1,"score":0.6651999950408936},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6446999907493591},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.5806999802589417},{"id":"https://openalex.org/C26760741","wikidata":"https://www.wikidata.org/wiki/Q160402","display_name":"Perception","level":2,"score":0.5698000192642212},{"id":"https://openalex.org/C2780615836","wikidata":"https://www.wikidata.org/wiki/Q2471869","display_name":"USable","level":2,"score":0.536300003528595},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.531499981880188},{"id":"https://openalex.org/C43521106","wikidata":"https://www.wikidata.org/wiki/Q2165493","display_name":"Pipeline (software)","level":2,"score":0.4794999957084656},{"id":"https://openalex.org/C2776650193","wikidata":"https://www.wikidata.org/wiki/Q264661","display_name":"Obstacle","level":2,"score":0.47940000891685486},{"id":"https://openalex.org/C2776035091","wikidata":"https://www.wikidata.org/wiki/Q7928819","display_name":"Viewpoints","level":2,"score":0.4535999894142151},{"id":"https://openalex.org/C12725497","wikidata":"https://www.wikidata.org/wiki/Q810247","display_name":"Baseline (sea)","level":2,"score":0.41670000553131104},{"id":"https://openalex.org/C104114177","wikidata":"https://www.wikidata.org/wiki/Q79782","display_name":"Motion (physics)","level":2,"score":0.4047999978065491},{"id":"https://openalex.org/C81074085","wikidata":"https://www.wikidata.org/wiki/Q366872","display_name":"Motion planning","level":3,"score":0.40290001034736633},{"id":"https://openalex.org/C107457646","wikidata":"https://www.wikidata.org/wiki/Q207434","display_name":"Human\u2013computer interaction","level":1,"score":0.34709998965263367},{"id":"https://openalex.org/C60692881","wikidata":"https://www.wikidata.org/wiki/Q584529","display_name":"Humanoid robot","level":3,"score":0.31279999017715454},{"id":"https://openalex.org/C2776010242","wikidata":"https://www.wikidata.org/wiki/Q4677575","display_name":"Active perception","level":3,"score":0.311599999666214},{"id":"https://openalex.org/C34413123","wikidata":"https://www.wikidata.org/wiki/Q170978","display_name":"Robotics","level":3,"score":0.2896000146865845},{"id":"https://openalex.org/C2780864053","wikidata":"https://www.wikidata.org/wiki/Q5147495","display_name":"Collision avoidance","level":3,"score":0.2831999957561493},{"id":"https://openalex.org/C79403827","wikidata":"https://www.wikidata.org/wiki/Q3988","display_name":"Real-time computing","level":1,"score":0.27090001106262207},{"id":"https://openalex.org/C6683253","wikidata":"https://www.wikidata.org/wiki/Q7075535","display_name":"Obstacle avoidance","level":4,"score":0.26089999079704285},{"id":"https://openalex.org/C44154836","wikidata":"https://www.wikidata.org/wiki/Q45045","display_name":"Simulation","level":1,"score":0.2556999921798706},{"id":"https://openalex.org/C2776401178","wikidata":"https://www.wikidata.org/wiki/Q12050496","display_name":"Feature (linguistics)","level":2,"score":0.2531000077724457}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.48550/arxiv.2603.11072","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.11072","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":null,"raw_source_name":null,"raw_type":"article"}],"best_oa_location":{"id":"doi:10.48550/arxiv.2603.11072","is_oa":true,"landing_page_url":"https://doi.org/10.48550/arxiv.2603.11072","pdf_url":null,"source":{"id":"https://openalex.org/S4306400194","display_name":"arXiv (Cornell University)","issn_l":null,"issn":null,"is_oa":true,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I205783295","host_organization_name":"Cornell University","host_organization_lineage":["https://openalex.org/I205783295"],"host_organization_lineage_names":[],"type":"repository"},"license":null,"license_id":null,"version":null,"is_accepted":false,"is_published":false,"raw_source_name":null,"raw_type":"article"},"sustainable_development_goals":[{"id":"https://metadata.un.org/sdg/13","score":0.7874091863632202,"display_name":"Climate action"}],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":[],"abstract_inverted_index":{"We":[0,88],"naturally":[1],"step":[2],"sideways":[3],"or":[4,62],"lean":[5],"to":[6,24,112,149,181],"see":[7],"around":[8],"the":[9,26,70,108,182],"obstacle":[10],"when":[11],"our":[12],"view":[13,117],"is":[14,32],"blocked,":[15],"and":[16,40,46,65,125,143,162,194],"recover":[17],"a":[18,75,80,114,133,205],"more":[19,115],"informative":[20],"observation.":[21],"Enabling":[22],"robots":[23],"make":[25],"same":[27],"kind":[28],"of":[29,73,79,118],"viewpoint":[30,111],"choice":[31],"critical":[33],"for":[34,93,139,209],"human-centered":[35,211],"operations,":[36],"including":[37],"search,":[38],"triage,":[39],"disaster":[41],"response,":[42],"where":[43],"cluttered":[44],"environments":[45],"partial":[47],"visibility":[48,135,196],"frequently":[49],"degrade":[50,169],"downstream":[51,212],"perception.":[52],"However,":[53],"many":[54],"Next-Best-View":[55,91],"(NBV)":[56],"methods":[57,168],"primarily":[58],"optimize":[59],"generic":[60],"exploration":[61],"long-horizon":[63],"coverage,":[64],"do":[66],"not":[67],"explicitly":[68],"target":[69,141,144,188],"immediate":[71],"goal":[72],"obtaining":[74],"single":[76],"usable":[77],"observation":[78,178],"partially":[81],"occluded":[82,120],"person":[83],"under":[84,171],"real":[85],"motion":[86,126],"constraints.":[87],"present":[89],"Occlusion-Aware":[90],"Planning":[92],"Human-Centered":[94],"Active":[95],"Perception":[96],"on":[97],"Mobile":[98],"Robots":[99],"(OA-NBV),":[100],"an":[101,119],"occlusion-aware":[102],"NBV":[103,167],"pipeline":[104],"that":[105,137],"autonomously":[106],"selects":[107],"next":[109],"traversable":[110],"obtain":[113],"complete":[116],"human.":[121],"OA-NBV":[122,153,176],"integrates":[123],"perception":[124],"planning":[127],"by":[128,190,197],"scoring":[129],"candidate":[130],"viewpoints":[131],"using":[132],"target-centric":[134],"model":[136],"accounts":[138],"occlusion,":[140],"scale,":[142],"completeness,":[145],"while":[146,165],"restricting":[147],"candidates":[148],"feasible":[150],"robot":[151],"poses.":[152],"achieves":[154],"over":[155],"90%":[156],"success":[157,174],"rate":[158],"in":[159],"both":[160],"simulation":[161],"real-world":[163],"trials,":[164],"baseline":[166],"sharply":[170],"occlusion.":[172],"Beyond":[173],"rate,":[175],"improves":[177],"quality:":[179],"compared":[180],"strongest":[183],"baseline,":[184],"it":[185,204],"increases":[186],"normalized":[187],"area":[189],"at":[191,198],"least":[192,199],"81%":[193],"keypoint":[195],"58%":[200],"across":[201],"settings,":[202],"making":[203],"drop-in":[206],"view-selection":[207],"module":[208],"diverse":[210],"tasks.":[213]},"counts_by_year":[],"updated_date":"2026-05-05T08:41:31.759640","created_date":"2026-03-14T00:00:00"}
