Open-Set Object Based Data Association
Representing the world using sparse objects allows for compact and semantically meaningful maps in simultaneous localization and mapping (SLAM). Traditionally, object detectors trained on a specific set of objects, such as the YCB objects, are used to provide input to the data association problem, w...
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| Format: | Thesis |
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Massachusetts Institute of Technology
2024
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| Online Access: | https://hdl.handle.net/1721.1/153827 |