{"paper":{"title":"SLAM with Objects using a Nonparametric Pose Graph","license":"http://creativecommons.org/publicdomain/zero/1.0/","headline":"","cross_cats":["cs.RO"],"primary_cat":"cs.CV","authors_text":"Beipeng Mu, John Leonard, Jonathan How, Liam Paull, Shih-Yuan Liu","submitted_at":"2017-04-19T23:54:57Z","abstract_excerpt":"Mapping and self-localization in unknown environments are fundamental capabilities in many robotic applications. These tasks typically involve the identification of objects as unique features or landmarks, which requires the objects both to be detected and then assigned a unique identifier that can be maintained when viewed from different perspectives and in different images. The \\textit{data association} and \\textit{simultaneous localization and mapping} (SLAM) problems are, individually, well-studied in the literature. But these two problems are inherently tightly coupled, and that has not b"},"claims":{"count":0,"items":[],"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"source":{"id":"1704.05959","kind":"arxiv","version":1},"verdict":{"id":null,"model_set":{},"created_at":null,"strongest_claim":"","one_line_summary":"","pipeline_version":null,"weakest_assumption":"","pith_extraction_headline":""},"references":{"count":0,"sample":[],"resolved_work":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57","internal_anchors":0},"formal_canon":{"evidence_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"author_claims":{"count":0,"strong_count":0,"snapshot_sha256":"258153158e38e3291e3d48162225fcdb2d5a3ed65a07baac614ab91432fd4f57"},"builder_version":"pith-number-builder-2026-05-17-v1"}