PatchGraph: In-hand tactile tracking with learned surface normals
Paloma Sodhi,Michael Kaess,Mustafa Mukadanr,Stuart Anderson,Paloma Sodhi,Michael Kaess,Mustafa Mukadanr,Stuart Anderson
We address the problem of tracking 3D object poses from touch during in-hand manipulations. Specifically, we look at tracking small objects using vision-based tactile sensors that provide high-dimensional tactile image measurements at the point of contact. While prior work has relied on a-priori information about the object being localized, we remove this requirement. Our key insight is that an ob...
