Uncertainty-aware 3D Object-Level Mapping with Deep Shape Priors
Ziwei Liao,Jun Yang,Jingxing Qian,Angela P. Schoellig,Steven L. Waslander,Ziwei Liao,Jun Yang,Jingxing Qian,Angela P. Schoellig,Steven L. Waslander
3D object-level mapping is a fundamental problem in robotics, which is especially challenging when object CAD models are unavailable during inference. We propose a framework that can reconstruct high-quality object-level maps for unknown objects. Our approach takes multiple RGB-D images as input and outputs dense 3D shapes and 9-DoF poses (including 3 scale parameters) for detected objects. The co...
