Abstract
In orchard-like apple perception scenarios, occlusion caused by leaves and branches often degrades apple localization, making Next-Best-View (NBV) planning important for reliable perception with eye-in-hand manipulators. However, due to joint limits, kinematic singularities, and joint-space discontinuities, an information-optimal viewpoint in task space does not necessarily correspond to a stable and efficient executable motion, revealing a mismatch between perceptual optimality and execution robustness. To bridge this gap, we propose a dual-layer NBV framework for apple perception under orchard-like occlusion conditions. Layer-1 generates task-oriented candidate viewpoints under geometric and visibility constraints in task space (i.e., SE(3)). Layer-2 maps these candidates into joint space and uses clustering as a practical grouping heuristic to organize sampled IK-feasible configurations. The grouped candidates are then evaluated using joint-space motion cost and conservative kinematic margins, with Predicted Surface Coverage (PSC) retained as a lightweight perception-side ranking signal in the downstream execution-aware evaluation. Experimental results show that, compared with an IK-filtered viewpoint-level baseline, the proposed L1+L2 pipeline improves planning success rate from 73.3% to 93.3%, reduces joint-space motion cost by approximately 40%, and increases joint-limit safety margins by about 28%, while maintaining comparable planning time. These results highlight the practical value of introducing a joint-space organizational layer for execution-aware NBV selection under controlled, static, single-target mock-orchard conditions.
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The text the model read, with the source record’s inline markup (italics, sub- and superscripts) rendered and its character entities decoded; quote offsets refer to the raw text.
Claims 4
Claim · model-written summary
The planner increased success rate from 73.3% to 93.3% versus the baseline.
- Taxon
- apple
Malus domesticat0 - Outcome
- planning success ratee0
- Direction
- improvese0
- Value
- 93.3%e0
- Comparator
- IK-filtered viewpoint-level baselinee0
Organisms pictured · Representative pictures of the matched species, not figures from the paper.
Verbatim
e0“compared with an IK-filtered viewpoint-level baseline, the proposed L1+L2 pipeline improves planning success rate from 73.3% to 93.3%”
t0“apple”
Claim · model-written summary
The planner reduced joint-space motion cost by approximately 40%.
- Taxon
- appleMalus domesticat0
- Outcome
- joint-space motion coste0
- Direction
- reducese0
- Value
- approximately 40%e0
Organisms pictured · Representative pictures of the matched species, not figures from the paper.
Verbatim
e0“reduces joint-space motion cost by approximately 40%”
t0“apple”
Claim · model-written summary
The planner increased joint-limit safety margins by about 28%.
- Taxon
- appleMalus domesticat0
- Outcome
- joint-limit safety marginse0
- Direction
- increasese0
- Value
- about 28%e0
Organisms pictured · Representative pictures of the matched species, not figures from the paper.
Verbatim
e0“increases joint-limit safety margins by about 28%”
t0“apple”
Claim · model-written summary
The planner maintained comparable planning time.
- Taxon
- appleMalus domesticat0
- Outcome
- planning timee0
- Direction
- comparablee0
- Comparator
- comparable planning timee0
Organisms pictured · Representative pictures of the matched species, not figures from the paper.
Verbatim
e0“while maintaining comparable planning time”
t0“apple”