A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM
Jiahui Fu,Qiangqiang Huang,Kevin Doherty,Yue Wang,John J. Leonard,Jiahui Fu,Qiangqiang Huang,Kevin Doherty,Yue Wang,John J. Leonard
In object-based Simultaneous Localization and Mapping (SLAM), 6D object poses offer a compact representation of landmark geometry useful for downstream planning and manipulation tasks. However, measurement ambiguity then arises as objects may possess complete or partial object shape symmetries (e.g., due to occlusion), making it difficult or impossible to generate a single consistent object pose e...
