Hierarchical Graph Neural Networks for Proprioceptive 6D Pose Estimation of In-hand Objects
Alireza Rezazadeh,Snehal Dikhale,Soshi Iba,Nawid Jamali,Alireza Rezazadeh,Snehal Dikhale,Soshi Iba,Nawid Jamali
Robotic manipulation, in particular in-hand object manipulation, often requires an accurate estimate of the object's 6D pose. To improve the accuracy of the estimated pose, state-of-the-art approaches in 6D object pose estimation use observational data from one or more modalities, e.g., RGB images, depth, and tactile readings. However, existing approaches make limited use of the underlying geometr...
