Efficient Object Rearrangement via Multi-view Fusion

Understand

The prospect of assistive robots aiding in object organization has always been compelling.

• In an image-goal setting, the robot rearranges the current scene to match the single image captured from the goal scene.
• The key to an image-goal rearrangement system is estimating the desired placement pose of each object based on the single goal image and observations from the current scene.
• In order to establish sufficient associations for accurate estimation, the system should observe an object from a viewpoint similar to that in the goal image.