A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) September 27 - October 1, 2021. Prague, Czech Republic
| Main Authors: | , , , , |
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| Other Authors: | |
| Format: | Article |
| Language: | English |
| Published: |
IEEE
2024
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| Online Access: | https://hdl.handle.net/1721.1/153759 |
| _version_ | 1826213807351922688 |
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| author | Fu, Jiahui Huang, Qiangqiang Doherty, Kevin Wang, Yue Leonard, John J. |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Fu, Jiahui Huang, Qiangqiang Doherty, Kevin Wang, Yue Leonard, John J. |
| author_sort | Fu, Jiahui |
| collection | MIT |
| description | 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) September 27 - October 1, 2021. Prague, Czech Republic |
| first_indexed | 2024-09-23T15:55:08Z |
| format | Article |
| id | mit-1721.1/153759 |
| institution | Massachusetts Institute of Technology |
| language | English |
| last_indexed | 2024-09-23T15:55:08Z |
| publishDate | 2024 |
| publisher | IEEE |
| record_format | dspace |
| spelling | mit-1721.1/1537592024-09-20T18:54:03Z A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM Fu, Jiahui Huang, Qiangqiang Doherty, Kevin Wang, Yue Leonard, John J. Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) September 27 - October 1, 2021. Prague, Czech Republic In object-based Simultaneous Localization and Mapping (SLAM), 6D object poses offer a compact representation of landmark geometry useful for downstream planning and manipulation tasks. However, measurement ambiguity then arises as objects may possess complete or partial object shape symmetries (e.g., due to occlusion), making it difficult or impossible to generate a single consistent object pose estimate. One idea is to generate multiple pose candidates to counteract measurement ambiguity. In this paper, we develop a novel approach that enables an object-based SLAM system to reason about multiple pose hypotheses for an object, and synthesize this locally ambiguous information into a globally consistent robot and landmark pose estimation formulation. In particular, we (1) present a learned pose estimation network that provides multiple hypotheses about the 6D pose of an object; (2) by treating the output of our network as components of a mixture model, we incorporate pose predictions into a SLAM system, which, over successive observations, recovers a globally consistent set of robot and object (landmark) pose estimates. We evaluate our approach on the popular YCB-Video Dataset and a simulated video featuring YCB objects. Experiments demonstrate that our approach is effective in improving the robustness of object-based SLAM in the face of object pose ambiguity. 2024-03-15T15:17:31Z 2024-03-15T15:17:31Z 2021-09-27 2024-03-15T15:11:22Z Article http://purl.org/eprint/type/ConferencePaper https://hdl.handle.net/1721.1/153759 Fu, Jiahui, Huang, Qiangqiang, Doherty, Kevin, Wang, Yue and Leonard, John J. 2021. "A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM." en 10.1109/iros51168.2021.9635956 Creative Commons Attribution-Noncommercial-ShareAlike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf IEEE arxiv |
| spellingShingle | Fu, Jiahui Huang, Qiangqiang Doherty, Kevin Wang, Yue Leonard, John J. A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM |
| title | A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM |
| title_full | A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM |
| title_fullStr | A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM |
| title_full_unstemmed | A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM |
| title_short | A Multi-Hypothesis Approach to Pose Ambiguity in Object-Based SLAM |
| title_sort | multi hypothesis approach to pose ambiguity in object based slam |
| url | https://hdl.handle.net/1721.1/153759 |
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