Siddartha S. Sirinivasa

Articulated Robot Motion for Simultaneous Localization and Mapping (ARM-SLAM)

A robot with a hand-mounted depth sensor scans a scene. When the robot's joint angles are not known with certainty, how can it best reconstruct the scene? In this work, we simultaneously estimate the joint angles of the robot and reconstruct a dense volumetric model of the scene. In this way, we per