OA-NBV: Occlusion-Aware Next-Best-View Planning for Human-Centered Active Perception on Mobile Robots
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arXiv
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| Format: | Preprint |
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2026
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| _version_ | 1866917333363064832 |
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| author | Hu, Boxun Chang, Chang Ge, Jiawei Namgung, Man Lin, Xiaomin Krieger, Axel Mohsenin, Tinoosh |
| author_facet | Hu, Boxun Chang, Chang Ge, Jiawei Namgung, Man Lin, Xiaomin Krieger, Axel Mohsenin, Tinoosh |
| contents | We naturally step sideways or lean to see around the obstacle when our view is blocked, and recover a more informative observation. Enabling robots to make the same kind of viewpoint choice is critical for human-centered operations, including search, triage, and disaster response, where cluttered environments and partial visibility frequently degrade downstream perception. However, many Next-Best-View (NBV) methods primarily optimize generic exploration or long-horizon coverage, and do not explicitly target the immediate goal of obtaining a single usable observation of a partially occluded person under real motion constraints. We present Occlusion-Aware Next-Best-View Planning for Human-Centered Active Perception on Mobile Robots (OA-NBV), an occlusion-aware NBV pipeline that autonomously selects the next traversable viewpoint to obtain a more complete view of an occluded human. OA-NBV integrates perception and motion planning by scoring candidate viewpoints using a target-centric visibility model that accounts for occlusion, target scale, and target completeness, while restricting candidates to feasible robot poses. OA-NBV achieves over 90% success rate in both simulation and real-world trials, while baseline NBV methods degrade sharply under occlusion. Beyond success rate, OA-NBV improves observation quality: compared to the strongest baseline, it increases normalized target area by at least 81% and keypoint visibility by at least 58% across settings, making it a drop-in view-selection module for diverse human-centered downstream tasks. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_11072 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | OA-NBV: Occlusion-Aware Next-Best-View Planning for Human-Centered Active Perception on Mobile Robots Hu, Boxun Chang, Chang Ge, Jiawei Namgung, Man Lin, Xiaomin Krieger, Axel Mohsenin, Tinoosh Robotics Artificial Intelligence We naturally step sideways or lean to see around the obstacle when our view is blocked, and recover a more informative observation. Enabling robots to make the same kind of viewpoint choice is critical for human-centered operations, including search, triage, and disaster response, where cluttered environments and partial visibility frequently degrade downstream perception. However, many Next-Best-View (NBV) methods primarily optimize generic exploration or long-horizon coverage, and do not explicitly target the immediate goal of obtaining a single usable observation of a partially occluded person under real motion constraints. We present Occlusion-Aware Next-Best-View Planning for Human-Centered Active Perception on Mobile Robots (OA-NBV), an occlusion-aware NBV pipeline that autonomously selects the next traversable viewpoint to obtain a more complete view of an occluded human. OA-NBV integrates perception and motion planning by scoring candidate viewpoints using a target-centric visibility model that accounts for occlusion, target scale, and target completeness, while restricting candidates to feasible robot poses. OA-NBV achieves over 90% success rate in both simulation and real-world trials, while baseline NBV methods degrade sharply under occlusion. Beyond success rate, OA-NBV improves observation quality: compared to the strongest baseline, it increases normalized target area by at least 81% and keypoint visibility by at least 58% across settings, making it a drop-in view-selection module for diverse human-centered downstream tasks. |
| title | OA-NBV: Occlusion-Aware Next-Best-View Planning for Human-Centered Active Perception on Mobile Robots |
| topic | Robotics Artificial Intelligence |
| url | https://arxiv.org/abs/2603.11072 |