Zhixuan Xie

Clutter Resilient Occlusion Avoidance for Tightly-Coupled Motion-Assisted Detection

Occlusion is a key factor leading to detection failures. This paper proposes a motion-assisted detection (MAD) method that actively plans an executable path, for the robot to observe the target at a new viewpoint with potentially reduced occlusion. In contrast to existing MAD approaches that may fai…