3 papers
cs.CV2026
Point2Pose: Occlusion-Recovering 6D Pose Tracking and 3D Reconstruction for Multiple Unknown Objects Via 2D Point Trackers
Tzu-Yuan Lin, Ho Jae Lee, Kevin Doherty +2
We present Point2Pose, a model-free method for causal 6D pose tracking of multiple rigid objects from monocular RGB-D video. Initialized only from sparse image points on the object…
cs.RO2025
Practical and Performant Enhancements for Maximization of Algebraic Connectivity
Leonard Jung, Alan Papalia, Kevin Doherty +1
Long-term state estimation over graphs remains challenging as current graph estimation methods scale poorly on large, long-term graphs. To address this, our work advances a current…
cs.RO2024
MAC: Graph Sparsification by Maximizing Algebraic Connectivity
Kevin Doherty, Alan Papalia, Yewei Huang +3
Simultaneous localization and mapping (SLAM) is a critical capability in autonomous navigation, but memory and computational limits make long-term application of common SLAM techni…