Please see the seanbow/object_pose_detection repository for usage and details.
If you use this code in an academic publication, please cite the following work:
Sean L. Bowman, Nikolay Atanasov, Kostas Daniilidis, and George J. Pappas. "Probabilistic data association for semantic slam", in IEEE International Conference on Robotics and Automation (ICRA), 2017. doi: 10.1109/ICRA.2017.7989203.
This technology is the subject of US Patent 11,187,536