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.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…
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…