Memory Unscented Particle Filter for 6-DOF Tactile Localization

This paper addresses 6-DOF (degree-of-freedom) tactile localization, i.e., the pose estimation of tridimensional objects using tactile measurements. This estimation problem is fundamental for the operation of autonomous robots that are often required to manipulate and grasp objects whose pose is a p...

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Veröffentlicht in:IEEE transactions on robotics 2017-10, Vol.33 (5), p.1139-1155
Hauptverfasser: Vezzani, Giulia, Pattacini, Ugo, Battistelli, Giorgio, Chisci, Luigi, Natale, Lorenzo
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Sprache:eng
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