DeltaSeek: Toward Active Perception in Evolving Construction Environments
Construction environments evolve continuously, causing large geometric changes that degrade static mapping and registration performance. This necessitates active perception, where robots deliberately select sensing configurations to resolve the environment's current state. We present DeltaSeek, an initial framework toward active perception in evolving built environments. While our broader objective is a system that reasons about where, how, and when to observe, this paper addresses a critical prerequisite: how a robot's sensing embodiment constrains the observations it can acquire. We formalize an embodiment's permissible observation set and evaluate with a Husky A300 equipped with a UR5e...
| Authors | Sanjay Acharjee, Md Nazmus Sakib |
|---|---|
| Primary category | cs.RO |
| Published | 27 September 2026 |
| Last updated at source | 27 September 2026 |
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