FingerSLAM: Closed-loop Unknown Object Localization and Reconstruction from Visuo-tactile Feedback
Jialiang Zhao,Maria Bauza,Edward H. Adelson,Jialiang Zhao,Maria Bauza,Edward H. Adelson
In this paper, we address the problem of using visuo-tactile feedback for 6-DoF localization and 3D reconstruction of unknown in-hand objects. We propose FingerSLAM, a closed-loop factor graph-based pose estimator that combines local tactile sensing at finger-tip and global vision sensing from a wrist-mount camera. FingerSLAM is constructed with two constituent pose estimators: a multi-pass refine...
