{"paper":{"title":"Motion-Uncertainty-Aware Next-Best-View Planning for Moving Object Reconstruction","license":"http://creativecommons.org/licenses/by/4.0/","headline":"","cross_cats":[],"primary_cat":"cs.RO","authors_text":"Karen Li, Lorenzo Sabattini, Mattia Mantovani, Robert J. Wood, Stephanie Gil","submitted_at":"2026-05-17T18:45:38Z","abstract_excerpt":"Active 3D reconstruction of moving objects requires selecting informative viewpoints while accounting for object motion uncertainty during the decision-to-execution delay. Existing methods address only parts of this problem: next-best-view (NBV) planners for object reconstruction typically optimize surface coverage but assume static objects, while motion-aware active perception for moving targets accounts for target motion but prioritizes tracking or visibility over reconstruction coverage. This work presents a motion-uncertainty-aware NBV framework for reconstructing an unknown rigid object u"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"2605.17593","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"integrity":{"clean":true,"summary":{"advisory":0,"critical":0,"by_detector":{},"informational":0},"endpoint":"/pith/2605.17593/integrity.json","findings":[],"available":true,"detectors_run":[{"name":"ai_meta_artifact","ran_at":"2026-05-19T21:33:23.581896Z","status":"skipped","version":"1.0.0","findings_count":0},{"name":"claim_evidence","ran_at":"2026-05-19T21:21:57.510572Z","status":"completed","version":"1.0.0","findings_count":0}],"snapshot_sha256":"327f7501a09493d85e82f00c30655b59c9d81385adef4594f2aae2a9d568093b"},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}