Category-Independent Articulated Object Tracking with Factor Graphs
Nick Heppert,Toki Migimatsu,Brent Yi,Claire Chen,Jeannette Bohg,Nick Heppert,Toki Migimatsu,Brent Yi,Claire Chen,Jeannette Bohg
Robots deployed in human-centric environments may need to manipulate a diverse range of articulated objects, such as doors, dishwashers, and cabinets. Articulated objects often come with unexpected articulation mechanisms that are inconsistent with categorical priors: for example, a drawer might rotate about a hinge joint instead of sliding open. We propose a category-independent framework for pre...
