Hierarchical Object Map Estimation for Efficient and Robust Navigation
Kyel Ok Katherine Liu Nicholas Roy Kyel Ok Katherine Liu Nicholas Roy
We propose a hierarchical representation of objects, where the representation of each object is allowed to change based on the quality of accumulated measurements. We initially estimate each object as a 2D bounding box or a 3D point, encoding only the geometric properties that can be well-constrained using limited viewpoints. With additional measurements, we allow each object to become a higher di...