https://yanmin-wu.github.io/ Recent content on wuyanmin Hugo -- gohugo.io en Yanmin Wu Thu, 03 Dec 2020 00:00:00 +0800 https://yanmin-wu.github.io/project/active-mapping/ Thu, 03 Dec 2020 00:00:00 +0800 https://yanmin-wu.github.io/project/active-mapping/ Object-Driven Active Mapping for More Accurate Object Pose Estimation and Robotic Grasping Authors Yanmin Wu, Yunzhou Zhang*, Delong Zhu*, Xin Chen, Sonya Coleman, Wenkai Sun, Xinggang Hu, and Zhiqiang Deng ✉ zhangyunzhou@mail.neu.edu.cn, zhudelong@link.cuhk.edu.hk Abstract This paper presents the first active object mapping framework for complex robotic grasping tasks. The framework is built on an object SLAM system integrated with a simultaneous multi-object pose estimation process. Aiming to reduce the observation https://yanmin-wu.github.io/project/eaoslam/ Thu, 20 Feb 2020 00:00:00 +0800 https://yanmin-wu.github.io/project/eaoslam/ EAO-SLAM: Monocular Semi-Dense Object SLAM Based on Ensemble Data Association Authors Yanmin Wu, Yunzhou Zhang*, Delong Zhu, Yonghui Feng, Sonya Coleman and Dermot Kerr ✉ wuyanminmax@gmail.com, * zhangyunzhou@mail.neu.edu.cn Abstract Object-level data association and pose estimation play a fundamental role in semantic SLAM, which remain unsolved due to the lack of robust and accurate algorithms. In this work, we propose an ensemble data associate strategy to integrate the parametric and nonparametric