19 citations · 77 across the 23 of their papers we have counts for
4 papers · 1 filter
Learning Tactile Models for Factor Graph-based Estimation
Paloma Sodhi, Michael Kaess, Mustafa Mukadam +1
We're interested in the problem of estimating object states from touch during manipulation under occlusions. In this work, we address the problem of estimating object poses from to…
Compositional Scalable Object SLAM
Akash Sharma, Wei Dong, Michael Kaess
We present a fast, scalable, and accurate Simultaneous Localization and Mapping (SLAM) system that represents indoor scenes as a graph of objects. Leveraging the observation that a…
Tactile SLAM: Real-time inference of shape and pose from planar pushing
Sudharshan Suresh, Maria Bauza, Kuan-Ting Yu +3
Tactile perception is central to robot manipulation in unstructured environments. However, it requires contact, and a mature implementation must infer object models while also acco…
An Efficient Planar Bundle Adjustment Algorithm
Lipu Zhou, Daniel Koppel, Hui Ju +2
This paper presents an efficient algorithm for the least-squares problem using the point-to-plane cost, which aims to jointly optimize depth sensor poses and plane parameters for 3…