NeuSE: Neural SE(3)-Equivariant Embedding for Consistent Spatial Understanding with Objects
Jiahui Fu,
Yilun Du,
Kurran Singh
et al.
Abstract:We present NeuSE, a novel Neural SE(3)-Equivariant Embedding for objects, and illustrate how it supports object SLAM for consistent spatial understanding with long-term scene changes. NeuSE is a set of latent object embeddings created from partial object observations. It serves as a compact point cloud surrogate for complete object models, encoding full shape information while transforming SE(3)-equivariantly in tandem with the object in the physical world. With NeuSE, relative frame transforms can be directly… Show more
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