Collision-aware In-hand 6D Object Pose Estimation using Multiple Vision-based Tactile Sensors

In this paper, we address the problem of estimating the in-hand 6D pose of an object in contact with multiple vision-based tactile sensors. We reason on the possible spatial configurations of the sensors along the object surface. Specifically, we filter contact hypotheses using geometric reasoning a...

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Hauptverfasser:	Caddeo, Gabriele M, Piga, Nicola A, Bottarel, Fabrizio, Natale, Lorenzo
Format:	Artikel
Sprache:	eng
Schlagworte:	Computer Science - Learning Computer Science - Robotics
Online-Zugang:	Volltext bestellen
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