Corpus ID: 198179952

Not Only Look But Observe: Variational Observation Model of Scene-Level 3D Multi-Object Understanding for Probabilistic SLAM

@article{Yu2019NotOL,
  title={Not Only Look But Observe: Variational Observation Model of Scene-Level 3D Multi-Object Understanding for Probabilistic SLAM},
  author={Hyeonwoo Yu and Beomhee Lee},
  journal={ArXiv},
  year={2019},
  volume={abs/1907.09760}
}
We present NOLBO, a variational observation model estimation for 3D multi-object from 2D single shot. Previous probabilistic instance-level understandings mainly consider the single-object image, not single shot with multi-object; relations between objects and the entire scene are out of their focus. The objectness of each observation also hardly join their model. Therefore, we propose a method to approximate the Bayesian observation model of scene-level 3D multi-object understanding. By… Expand

References

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  • Computer Science, Engineering
  • 2019 International Conference on Robotics and Automation (ICRA)
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TLDR
This work approximate the observation model of a 3D object with a tractable distribution to enable the complete formulation of probabilistic semantic SLAM and estimates the variational likelihood from the 2D image of the object to exploit its observed single view. Expand
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