@inproceedings{desingh2019factored,
  title={Factored pose estimation of articulated objects using efficient nonparametric belief propagation},
  author={Desingh, Karthik and Lu, Shiyang and Opipari, Anthony and Jenkins, Odest Chadwicke},
  booktitle={2019 International Conference on Robotics and Automation (ICRA)},
  pages={7221--7227},
  year={2019},
  organization={IEEE}
}