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cs.RO2022
6D Pose Estimation for Textureless Objects on RGB Frames using Multi-View Optimization
Jun Yang, Wenjie Xue, Sahar Ghavidel +1
6D pose estimation of textureless objects is a valuable but challenging task for many robotic applications. In this work, we propose a framework to address this challenge using onl…
cs.RO2022
POCD: Probabilistic Object-Level Change Detection and Volumetric Mapping in Semi-Static Scenes
Jingxing Qian, Veronica Chatrath, Jun Yang +3
Maintaining an up-to-date map to reflect recent changes in the scene is very important, particularly in situations involving repeated traversals by a robot operating in an environm…
cs.CV2022
Next-Best-View Prediction for Active Stereo Cameras and Highly Reflective Objects
Jun Yang, Steven L. Waslander
Depth acquisition with the active stereo camera is a challenging task for highly reflective objects. When setup permits, multi-view fusion can provide increased levels of depth com…