4 papers
Picasso: Holistic Scene Reconstruction with Physics-Constrained Sampling
Xihang Yu, Rajat Talak, Lorenzo Shaikewitz +1
In the presence of occlusions and measurement noise, geometrically accurate scene reconstructions -- which fit the sensor data -- can still be physically incorrect. For instance, w…
Category-Level Object Shape and Pose Estimation in Less Than a Millisecond
Lorenzo Shaikewitz, Tim Nguyen, Luca Carlone
Object shape and pose estimation is a foundational robotics problem, supporting tasks from manipulation to scene understanding and navigation. We present a fast local solver for sh…
Uncertainty Quantification for Visual Object Pose Estimation: S-Lemma Ellipsoidal Bounds
Lorenzo Shaikewitz, Charis Georgiou, Luca Carlone
Quantifying the uncertainty of an object's pose estimate is essential for robust control and planning. Although pose estimation is a well-studied robotics problem, attaching statis…
A Certifiable Algorithm for Simultaneous Shape Estimation and Object Tracking
Lorenzo Shaikewitz, Samuel Ubellacker, Luca Carlone
Applications from manipulation to autonomous vehicles rely on robust and general object tracking to safely perform tasks in dynamic environments. We propose the first certifiably o…