4 accepted papers
Object shape and pose estimation is a foundational robotics problem, supporting tasks from manipulation to scene understanding and navigation. We present a fast local solver for shape and pose estimation which requires only category-level object priors and admits an efficient certificate of global o…
In the presence of occlusions and measurement noise, geometrically accurate scene reconstructions—which fit the sensor data—can still be physically incorrect. For instance, when estimating the poses and shapes of objects in the scene and importing the resulting estimates into a simulator, small erro…
Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably optimal category-level approach for simultaneous shape estimation and pose tracking of an object of known category (e.g.,
Assistance during eating is essential for those with severe mobility issues or eating risks. However, dependence on traditional human caregivers is linked to malnutrition, weight loss, and low self-esteem. For those who require eating assistance, a semi-autonomous robotic platform can provide indepe…