Preprint
Sep 2026
PIVOT: Perception-aware Independent Viewpoint Online Optimization
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 cha...
Yuyang Chen, Shekoufeh Sadeghi, Charuvahan Adhivarahan et al.
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