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Title: Factored LT and Factored Raptor Codes for Large-Scale Distributed Matrix Multiplication
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Award ID(s):
Publication Date:
Journal Name:
2020 IEEE International Symposium on Information Theory (ISIT)
Page Range or eLocation-ID:
239 to 244
Sponsoring Org:
National Science Foundation
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  1. Robots working in human environments often encounter a wide range of articulated objects, such as tools, cabinets, and other jointed objects. Such articulated objects can take an infinite number of possible poses, as a point in a potentially high-dimensional continuous space. A robot must perceive this continuous pose in order to manipulate the object to a desired pose. This problem of perception and manipulation of articulated objects remains a challenge due to its high dimensionality and multi-modal uncertainty. In this paper, we propose a factored approach to estimate the poses of articulated objects using an efficient non-parametric belief propagation algorithm. We consider inputs as geometrical models with articulation constraints, and observed 3D sensor data. The proposed framework produces object-part pose beliefs iteratively. The problem is formulated as a pairwise Markov Random Field (MRF) where each hidden node (continuous pose variable) models an observed object-part's pose and each edge denotes an articulation constraint between a pair of parts. We propose articulated pose estimation by a Pull Message Passing algorithm for Nonparametric Belief Propagation (PMPNBP) and evaluate its convergence properties over scenes with articulated objects.