4 papers · 1 filter
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…
Non-submodular Visual Attention for Robot Navigation
Reza Vafaee, Kian Behzad, Milad Siami +2
This paper presents a task-oriented computational framework to enhance Visual-Inertial Navigation (VIN) in robots, addressing challenges such as limited time and energy resources.…
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…