16 citations · 57 across the 46 of their papers we have counts for
5 papers · 1 filter
Factored Pose Estimation of Articulated Objects using Efficient Nonparametric Belief Propagation
Karthik Desingh, Shiyang Lu, Anthony Opipari +1
Robots working in human environments often encounter a wide range of articulated objects, such as tools, cabinets, and other jointed objects. Such articulated objects can take an i…
Semantic Mapping with Simultaneous Object Detection and Localization
Zhen Zeng, Yunwen Zhou, Odest Chadwicke Jenkins +1
We present a filtering-based method for semantic mapping to simultaneously detect objects and localize their 6 degree-of-freedom pose. For our method, called Contextual Temporal Ma…
Never Mind the Bounding Boxes, Here's the SAND Filters
Zhiqiang Sui, Zhefan Ye, Odest Chadwicke Jenkins
Perception is the main bottleneck to perform autonomous mobile manipulation tasks, especially in cluttered and unstructured environment. In this paper, we propose a novel two-stage…
Pull Message Passing for Nonparametric Belief Propagation
Karthik Desingh, Anthony Opipari, Odest Chadwicke Jenkins
We present a "pull" approach to approximate products of Gaussian mixtures within message updates for Nonparametric Belief Propagation (NBP) inference. Existing NBP methods often re…
Plenoptic Monte Carlo Object Localization for Robot Grasping under Layered Translucency
Zheming Zhou, Zhiqiang Sui, Odest Chadwicke Jenkins
In order to fully function in human environments, robot perception will need to account for the uncertainty caused by translucent materials. Translucency poses several open challen…