3 papers
cs.RO2025
Is Image-based Object Pose Estimation Ready to Support Grasping?
Eric C. Joyce, Qianwen Zhao, Nathaniel Burgdorfer +2
We present a framework for evaluating 6-DoF instance-level object pose estimators, focusing on those that require a single RGB (not RGB-D) image as input. Besides gaining intuition…
cs.RO2025
Consensus-Driven Uncertainty for Robotic Grasping based on RGB Perception
Eric C. Joyce, Qianwen Zhao, Nathaniel Burgdorfer +2
Deep object pose estimators are notoriously overconfident. A grasping agent that both estimates the 6-DoF pose of a target object and predicts the uncertainty of its own estimate c…
cs.CV2025
Radiant Triangle Soup with Soft Connectivity Forces for 3D Reconstruction and Novel View Synthesis
Nathaniel Burgdorfer, Philippos Mordohai
We introduce an inference-time scene optimization algorithm utilizing triangle soup, a collection of disconnected translucent triangle primitives, as the representation for the geo…