6 accepted papers
This paper considers online object-level mapping using partial point-cloud observations obtained online in an unknown environment. We develop an approach for fully Convolutional Object Retrieval and Symmetry-AIded Registration (CORSAIR). Our model extends the Fully Convolutional Geo-metric Features…
Autonomous systems need to understand the semantics and geometry of their surroundings in order to comprehend and safely execute object-level task specifications. This paper proposes an expressive yet compact model for joint object pose and shape optimization, and an associated optimization algorith…
This paper addresses outdoor terrain mapping using overhead images obtained from an unmanned aerial vehicle. Dense depth estimation from aerial images during flight is challenging. While feature-based localization and mapping techniques can deliver real-time odometry and sparse points reconstruction…
This paper focuses on pose registration of different object instances from the same category. This is required in online object mapping because object instances detected at test time usually differ from the training instances. Our approach transforms instances of the same category to a normalized ca…
Introducing object-level semantic information into simultaneous localization and mapping (SLAM) system is critical. It not only improves the performance but also enables tasks specified in terms of meaningful objects. This work presents OrcVIO, for visual-inertial odometry tightly coupled with track…
This paper focuses on building semantic maps, containing object poses and shapes, using a monocular camera. This is an important problem because robots need rich understanding of geometry and context if they are to shape the future of transportation, construction, and agriculture. Our contribution i…