3 papers
cs.CV2022
SDF-based RGB-D Camera Tracking in Neural Scene Representations
Leonard Bruns, Fereidoon Zangeneh, Patric Jensfelt
We consider the problem of tracking the 6D pose of a moving RGB-D camera in a neural scene representation. Different such representations have recently emerged, and we investigate…
cs.CV2022
On the Evaluation of RGB-D-based Categorical Pose and Shape Estimation
Leonard Bruns, Patric Jensfelt
Recently, various methods for 6D pose and shape estimation of objects have been proposed. Typically, these methods evaluate their pose estimation in terms of average precision, and…
cs.RO2019
Dispertio: Optimal Sampling for Safe Deterministic Sampling-Based Motion Planning
Luigi Palmieri, Leonard Bruns, Michael Meurer +1
A key challenge in robotics is the efficient generation of optimal robot motion with safety guarantees in cluttered environments. Recently, deterministic optimal sampling-based mot…