Consensus-Informed Optimization Over Mixtures for Ambiguity-Aware Object SLAM
Ziqi Lu,Qiangqiang Huang,Kevin Doherty,John J. Leonard,Ziqi Lu,Qiangqiang Huang,Kevin Doherty,John J. Leonard
Building object-level maps can facilitate robot-environment interactions (e.g. planning and manipulation), but objects could often have multiple probable poses when viewed from a single vantage point, due to symmetry, occlusion or perceptual failures. A robust object-level simultaneous localization and mapping (object SLAM) algorithm needs to be aware of this pose ambiguity. We propose to maintain...
