6D Pose Uncertainty in Robotic Perception

Robotic perception is fundamental to important application areas. In the Joint Research Project DESIRE, we develop a robotic perception system with the aim of perceiving and modeling an unprepared kitchen scenario with many objects. It relies on the fusion of information from weak features from heterogenous sensors in order to classify and localize objects. This requires the representation of wide spread probability distributions of the 6D pose.

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