USING SENSOR-BASED OBSERVATIONS OF AGENTS IN AN ENVIRONMENT TO ESTIMATE THE POSE OF AN OBJECT IN THE ENVIRONMENT AND TO ESTIMATE AN UNCERTAINTY MEASURE FOR THE POSE

Methods, apparatus, systems, and computer-readable media are provided for using sensor-based observations from multiple agents (e.g., mobile robots and/or fixed sensors) in an environment to estimate the pose of an object in the environment at a target time and to estimate an uncertainty measure for that pose. Various implementations generate a multigraph based on a group of observations from multiple agents, where the multigraph includes a reference frame node, object nodes, and a plurality edges connecting the nodes. In some implementations, a composite pose and composite uncertainty measure are generated for each of a plurality of simple paths along the edges of the multigraph that connect the reference frame node to a given object node-and a pose and uncertainty measure for an object identifier associated with the given object node is generated based on the composite poses and the composite uncertainty measures.