Simultaneous Contact Location and Object Pose Estimation Using Proprioception and Tactile Feedback
Andrea Sipos,Nima Fazeli,Andrea Sipos,Nima Fazeli
Joint estimation of grasped object pose and extrinsic contacts is central to robust and dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that jointly estimates contact location and object pose in 3D using exclusively proprioception and tactile feedback. Our approach leverages two complementary particle filters: one to estimate contact location (CPFGrasp) and ano...
