Efficient Visuo-Haptic Object Shape Completion for Robot Manipulation
Lukas Rustler,Jiri Matas,Matej Hoffmann,Lukas Rustler,Jiri Matas,Matej Hoffmann
For robot manipulation, a complete and accurate object shape is desirable. Here, we present a method that combines visual and haptic reconstruction in a closed-loop pipeline. From an initial viewpoint, the object shape is reconstructed using an implicit surface deep neural network. The location with highest uncertainty is selected for haptic exploration, the object is touched, the new information ...
