Multi-view object pose distribution tracking for pre-grasp planning on mobile robots
Lakshadeep Naik,Thorbjørn Mosekjær Iversen,Aljaz Kramberger,Jakob Wilm,Norbert Krüger,Lakshadeep Naik,Thorbjørn Mosekjær Iversen,Aljaz Kramberger,Jakob Wilm,Norbert Krüger
The ability to track the 6D pose distribution of an object when a mobile manipulator robot is still approaching the object can enable the robot to pre-plan grasps that combine base and arm motion. However, tracking a 6D object pose distribution from a distance can be challenging due to the limited view of the robot camera. In this work, we present a framework that fuses observations from external ...
