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cs.RO2022
Discrete-Continuous Smoothing and Mapping
Kevin J. Doherty, Ziqi Lu, Kurran Singh +1
We describe a general approach for maximum a posteriori (MAP) inference in a class of discrete-continuous factor graphs commonly encountered in robotics applications. While there a…
cs.RO2022
SLAM-Supported Self-Training for 6D Object Pose Estimation
Ziqi Lu, Yihao Zhang, Kevin Doherty +3
Recent progress in object pose prediction provides a promising path for robots to build object-level scene representations during navigation. However, as we deploy a robot in novel…