Category-Independent Articulated Object Tracking with Factor Graphs

  title={Category-Independent Articulated Object Tracking with Factor Graphs},
  author={Nick Heppert and Toki Migimatsu and Brent Yi and Claire Chen and Jeannette Bohg},
  journal={2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
Robots deployed in human-centric environments may need to manipulate a diverse range of articulated objects, such as doors, dishwashers, and cabinets. Articulated objects often come with unexpected articulation mechanisms that are inconsistent with categorical priors: for example, a drawer might rotate about a hinge joint instead of sliding open. We propose a category-independent framework for predicting the articulation models of unknown objects from sequences of RGB-D images. The prediction…