Contact-based in-hand pose estimation using Bayesian state estimation and particle filtering
Felix von Drigalski,Shohei Taniguchi,Robert Lee,Takamitsu Matsubara,Masashi Hamaya,Kazutoshi Tanaka,Yoshihisa Ijiri,Felix von Drigalski,Shohei Taniguchi,Robert Lee,Takamitsu Matsubara,Masashi Hamaya,Kazutoshi Tanaka,Yoshihisa Ijiri
In industrial assembly tasks, the position of an object grasped by the robot has to be known with high precision in order to insert or place it. In real applications, this problem is commonly solved by jigs that are specially produced for each part. However, they significantly limit flexibility and are prohibitive when the target parts change often, so a flexible method to localize parts with high...
