Local dependency analysis in probabilistic scene estimation

Abstract

A general solution to the problem of jointly estimating the state of multiple entities is regarded computationally challenging at the time. Most solutions are based on the application of wide assumptions of independence. In many situations and constellations of entities, this is sufficient and leads to high quality results. In some situations as occlusion for instance the assumption of independence is violated heavily resulting in considerable errors. The proposed approach considers local dependencies, allowing to increase the accuracy of the estimation punctually, depending on application requirements, such as high precision localization for grasping operations or rough precision for semantic localization.

Robust 6d Pose Determination in Complex Environments for One Hundred Classes

“…Figure 1 shows the prototype. The robust and accurate object recognition system is basis to continuing works such as object mani-pulation (Xue et al, 2007), perception planning (Eidenberger et al, 2009) and physical object dependency analysis (Grundmann et al, 2008), which point out its importance.…”