الملخص
A fundamental assumption in robotic perception is that the sensor's field of view (FoV) is fixed relative to the robot body. Motion-decoupled sensors, such as gimbal-mounted cameras and MEMS-based LiDARs, instead allow sensing direction to be controlled independently at runtime. This freedom creates a computational challenge: efficiently selecting useful viewing directions online in feature-dense environments. We propose PIVOT, a lightweight iterative method that optimizes sensor viewing direction along a fixed translation trajectory to maximize feature visibility. Under a conical FoV model, visibility depends only on the optical axis, yielding a two-degree-of-freedom optimization on the viewing sphere $S^2$. Coordinate-free $SO(3)$ exponential-map updates enable efficient continuous optimization without explicit angular parameterizations or exhaustive viewing-sphere search. Monte Carlo evaluations retain 98.1--99.6% of brute-force visibility with a 76--85x speedup. Photorealistic simulation and real-world experiments further demonstrate improved visual localization robustness and practical viewpoint control on a quadruped robot.
الكلمات المفتاحية
الموضوع
بيانات النشر
- المجلة
- غير متاح
- وصول مفتوح
- وصول مفتوح أخضر
اقتبس هذه المقالة
APA 7
Chen, Y., Sadeghi, S., Adhivarahan, C., Lemos, E., Wang, C., Koppal, S. J., & Dantu, K. (2026). PIVOT: Perception-aware Independent Viewpoint Online Optimization. https://omanscience.com/ar/articles/pivot-perception-aware-independent-viewpoint-online-optimization
MLA 9
Chen, Yuyang, et al. "PIVOT: Perception-aware Independent Viewpoint Online Optimization." https://omanscience.com/ar/articles/pivot-perception-aware-independent-viewpoint-online-optimization.
شيكاغو (المؤلف–التاريخ)
Chen, Yuyang, Shekoufeh Sadeghi, Charuvahan Adhivarahan, Elton Lemos, Chen Wang, Sanjeev J. Koppal, and Karthik Dantu. 2026. "PIVOT: Perception-aware Independent Viewpoint Online Optimization." https://omanscience.com/ar/articles/pivot-perception-aware-independent-viewpoint-online-optimization.
هارفارد
Chen, Y., Sadeghi, S., Adhivarahan, C., Lemos, E., Wang, C., Koppal, S. J. and Dantu, K. (2026) 'PIVOT: Perception-aware Independent Viewpoint Online Optimization', Available at: https://omanscience.com/ar/articles/pivot-perception-aware-independent-viewpoint-online-optimization.
فانكوفر
Chen Y, Sadeghi S, Adhivarahan C, Lemos E, Wang C, Koppal SJ, et al. PIVOT: Perception-aware Independent Viewpoint Online Optimization. https://omanscience.com/ar/articles/pivot-perception-aware-independent-viewpoint-online-optimization
IEEE
Y. Chen, S. Sadeghi, C. Adhivarahan, E. Lemos, C. Wang, S. J. Koppal, and K. Dantu, "PIVOT: Perception-aware Independent Viewpoint Online Optimization," https://omanscience.com/ar/articles/pivot-perception-aware-independent-viewpoint-online-optimization.