We propose a new recursive method for simultaneous estimation of both the pose and the shape of a three-dimensional extended object. The key idea of the presented method is to represent the shape of the object using spherical harmonics, similar to the way Fourier series can be used in the two-dimensional case. This allows us to derive a measurement equation that can be used within the framework of nonlinear filters such as the UKF. We provide both simulative and experimental evaluations of the novel techniques.
PoseFusion2: Simultaneous Background Reconstruction and Human Shape Recovery in Real-time
Shenzhen Institute of Artificial Intelligence and Robotics for Society（深圳人工智能与机器人研究院）；the Chinese University of Hong Kong, Shenzhen（香港中文大学（深圳））；School of Science and Engineering, the Chinese University of Hong Kong, Shenzhen（香港中文大学（深圳）理工学院）；University of Edinburgh（爱丁堡大学）；The Alan Turing Institute（艾伦·图灵研究所）
Simultaneous Semantic and Collision Learning for 6-DoF Grasp Pose Estimation
Institute of Automation, Chinese Academy of Sciences（中国科学院自动化研究所）；School of Artificial Intelligence, University of Chinese Academy of Sciences（中国科学院大学人工智能学院）；Bytedance AI Lab（字节跳动人工智能实验室）；The Chinese University of Hong Kong（香港中文大学）
Virtual Inverse Perspective Mapping for Simultaneous Pose and Motion Estimation
Institute of Industrial Science, The University of Tokyo（东京大学工业科学研究所）；Faculty of Information Science and Technology, Hokkaido University（北海道大学信息科学与技术学院）；Information Technology Center, The University of Tokyo（东京大学信息技术中心）
DSR: Direct Simultaneous Registration for Multiple 3D Images
University of Technology Sydney（悉尼科技大学）；Shanghai Chest Hospital, Shanghai Jiao Tong University（上海交通大学附属胸科医院）；Shanghai Jiao Tong University（上海交通大学）；Prince of Wales Hospital（威尔斯亲王医院）；Li Ka Shing Institute of Health Science（李嘉诚健康科学研究所）；The Chinese University of Hong Kong（香港中文大学）
