V-PRISM: Probabilistic Mapping of Unknown Tabletop Scenes

Understand

The ability to construct concise scene representations from sensor input is central to the field of robotics.

• This paper addresses the problem of robustly creating a 3D representation of a tabletop scene from a segmented RGB-D image.
• These representations are then critical for a range of downstream manipulation tasks.
• Many previous attempts to tackle this problem do not capture accurate uncertainty, which is required to subsequently produce safe motion plans.