In-Hand Object Pose Tracking via Contact Feedback and GPU-Accelerated Robotic Simulation
Jacky Liang,Ankur Handa,Karl Van Wyk,Viktor Makoviychuk,Oliver Kroemer,Dieter Fox,Jacky Liang,Ankur Handa,Karl Van Wyk,Viktor Makoviychuk,Oliver Kroemer,Dieter Fox
Tracking the pose of an object while it is being held and manipulated by a robot hand is difficult for vision-based methods due to significant occlusions. Prior works have explored using contact feedback and particle filters to localize in-hand objects. However, they have mostly focused on the static grasp setting and not when the object is in motion, as doing so requires modeling of complex conta...
