2025
Visuo-Tactile Object Pose Estimation for a Multi-Finger Robot Hand With Low-Resolution in-Hand Tactile Sensing
Lukas Mack, Felix Grüninger, Benjamin A. Richardson, Regine Lendway, Katherine J. Kuchenbecker, Joerg Stueckler
ICRA 2025
Accurate 3D pose estimation of grasped objects is an important prerequisite for robots to perform assembly or in-hand manipulation tasks, but object occlusion by the robot's own hand greatly increases the difficulty of this perceptual task. Here, we propose that combining visual information and prop