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arXiv · 2605.10707

ObjView-Bench: Rethinking Difficulty and Deployment for Object-Centric View Planning

Sicong Pan·Hao Hu·Xuying Huang·Benno Wingender·Maren Bennewitz
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Abstract

Object-centric view planning is a core component of active geometric 3D reconstruction in robotics, yet existing evaluations often conflate object complexity, planning difficulty, budget assumptions, and physical reachability constraints. As a result, conclusions drawn from idealized view-planning evaluations may not reliably predict performance under realistic reconstruction settings. We introduce ObjView-Bench, an evaluation framework for rethinking difficulty and deployment in object-centric view planning. First, we disentangle three quantities underlying view-planning evaluation: omnidirectional self-occlusion as an object-side attribute, observation saturation difficulty, and protocol-dependent planning difficulty defined through a set-cover formulation. This separation supports controlled dataset construction, analysis of slow-saturation objects, and a case study showing that planning difficulty-aware sampling can improve learned view planners. Second, we design deployment-oriented evaluation protocols that reveal how budget regimes and reachable-view constraints alter method behavior. Across classical, learned, and hybrid planners, ObjView-Bench shows that difficulty, budget, and reachability constraints substantially change method rankings and failure modes.

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Sicong Pan, Hao Hu, Xuying Huang, Benno Wingender, Maren Bennewitz. 2026-05-11. ObjView-Bench: Rethinking Difficulty and Deployment for Object-Centric View Planning. https://arxiv.org/abs/2605.10707

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