@article{gfmplannerperceptionawaretrajectoryplann,
  title = {GFM-Planner: Perception-Aware Trajectory Planning with Geometric Feature Metric},
  author = {Yue Lin and Xiaoxuan Zhang and Yang Liu and Dong Wang and Huchuan Lu},
  year = {2025},
  eprint = {2507.16233},
  archivePrefix = {arXiv},
  url = {https://arxiv.org/abs/2507.16233},
}