SLAM-Supported Self-Training for 6D Object Pose Estimation
Ziqi Lu,Yihao Zhang,Kevin Doherty,Odin Severinsen,Ethan Yang,John Leonard,Ziqi Lu,Yihao Zhang,Kevin Doherty,Odin Severinsen,Ethan Yang,John Leonard
Recent progress in object pose prediction provides a promising path for robots to build object-level scene representations during navigation. However, as we deploy a robot in novel environments, the out-of-distribution data can degrade the prediction performance. To mitigate the domain gap, we can potentially perform self-training in the target domain, using predictions on robot-captured images as...
