Counter-Hypothetical Particle Filters for Single Object Pose Tracking
Elizabeth A. Olson,Jana Pavlasek,Jasmine A. Berry,Odest Chadwicke Jenkins,Elizabeth A. Olson,Jana Pavlasek,Jasmine A. Berry,Odest Chadwicke Jenkins
Particle filtering is a common technique for six degree of freedom (6D) pose estimation due to its ability to tractably represent belief over object pose. However, the particle filter is prone to particle deprivation due to the high-dimensional nature of 6D pose. When particle deprivation occurs, it can cause mode collapse of the underlying belief distri-bution during importance sampling. If the r...
