Semantic-aware Next-Best-View for Multi-DoFs Mobile System in Search-and-Acquisition based Visual Perception

arXiv:2404.16507v1 Announce Type: new
Abstract: Efficient visual perception using mobile systems is crucial, particularly in unknown environments such as search and rescue operations, where swift and comprehensive perception of objects of interest is essential. In such real-world applications, objects of interest are often situated in complex environments, making the selection of the 'Next Best' view based solely on maximizing visibility gain suboptimal. Semantics, providing a higher-level interpretation of perception, should significantly contribute to the selection of the next viewpoint for …

abstract acquisition applications arxiv cs.cv environments making mobile next objects operations perception search semantic swift systems type view visual world