Robust, Occlusion-aware Pose Estimation for Objects Grasped by Adaptive Hands
Bowen Wen,Chaitanya Mitash,Sruthi Soorian,Andrew Kimmel,Avishai Sintov,Kostas E. Bekris,Bowen Wen,Chaitanya Mitash,Sruthi Soorian,Andrew Kimmel,Avishai Sintov,Kostas E. Bekris
Many manipulation tasks, such as placement or within-hand manipulation, require the object's pose relative to a robot hand. The task is difficult when the hand significantly occludes the object. It is especially hard for adaptive hands, for which it is not easy to detect the finger's configuration. In addition, RGB-only approaches face issues with texture-less objects or when the hand and the obje...
