Rethinking Learned Occupancy in Autonomous Active Mapping with Observation-Gated Filtering

Paper recorded by Signals 4 on 2026-09-08 in cs.CV. Abstract reproduced from arXiv; link to the original below.

Published 2026-09-08 on arXiv · recorded by Signals 4 on 2026-09-09

Category: cs.CV · 计算机视觉 · first seen 2026-09-09

Abstract

Autonomous 3D active mapping requires a space robot to choose where to sense while building the geometry needed for navigation. Learned occupancy completion extends spatial context beyond the current field of view, but one predicted map often serves two planning roles: it scores expected surface gain and constrains collision-free motion. Unsupported occupancy can therefore distort both where the r

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