ShapeMap 3-D: Efficient shape mapping through dense touch and vision
Sudharshan Suresh,Zilin Si,Joshua G. Mangelson,Wenzhen Yuan,Michael Kaess,Sudharshan Suresh,Zilin Si,Joshua G. Mangelson,Wenzhen Yuan,Michael Kaess
Knowledge of 3-D object shape is of great importance to robot manipulation tasks, but may not be readily available in unstructured environments. While vision is often occluded during robot-object interaction, high-resolution tactile sensors can give a dense local perspective of the object. However, tactile sensors have limited sensing area and the shape representation must faithfully approximate n...
