PIVOT: Perception-aware Independent Viewpoint Online Optimization

arXiv:2609.19510 · cs.RO · Submitted 2026-09-16 · Read on arXiv

cs.RO

Submitted: 2026-09-16

Updated: 2026-09-16

Comments: 9 pages, 9 figures, 3 tables. Yuyang Chen and Shekoufeh Sadeghi contributed equally to this work. Submitted to IEEE Robotics and Automation Letters (RA-L)

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Fisher Information — 6× in this paper · explained in 3 episodes
• Active Perception — 5× in this paper · explained in 2 episodes
• Robustness — 5× in this paper · explained in 5 episodes
• Fisher Information Field — 4× in this paper
• Accuracy — 3× in this paper · explained in 1 episode
• Adaptation — 3× in this paper · explained in 1 episode
• Active SLAM — 2× in this paper · explained in 1 episode
• Decoupling — 2× in this paper · explained in 2 episodes
• IEEE International Conference on Robotics and Automation — 2× in this paper
• Alignment — 1× in this paper · explained in 1 episode
• Aperture — 1× in this paper · explained in 1 episode
• Core — 1× in this paper · explained in 2 episodes
• Cosine Similarity — 1× in this paper · explained in 3 episodes
• Information Gain — 1× in this paper · explained in 2 episodes
• Modularity — 1× in this paper · explained in 9 episodes
• Point Clouds — 1× in this paper · explained in 2 episodes
• Trace — 1× in this paper · explained in 2 episodes

Sources

• Perception-aware Path Planning
• Fisher Information Field: an Efficient and Differentiable Map for Perception-aware Planning

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