CORSAIR: Convolutional Object Retrieval and Symmetry-AIded Registration
2021 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)(2021)
Abstract
This paper considers online object-level mapping using partial point-cloud observations obtained online in an unknown environment. We develop an approach for fully Convolutional Object Retrieval and Symmetry-AIded Registration (CORSAIR). Our model extends the Fully Convolutional Geo-metric Features model to learn a global object-shape embedding in addition to local point-wise features from the poi...
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Key words
Training,Visualization,Shape,Databases,Pose estimation,Nearest neighbor methods,Feature extraction
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