Collision-aware In-hand 6D Object Pose Estimation using Multiple Vision-based Tactile Sensors
Gabriele M. Caddeo,Nicola A. Piga,Fabrizio Bottarel,Lorenzo Natale,Gabriele M. Caddeo,Nicola A. Piga,Fabrizio Bottarel,Lorenzo Natale
In this paper, we address the problem of estimating the in-hand 6D pose of an object in contact with multiple vision-based tactile sensors. We reason on the possible spatial configurations of the sensors along the object surface. Specifically, we filter contact hypotheses using geometric reasoning and a Convolutional Neural Network (CNN), trained on simulated object-agnostic images, to promote tho...
