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Tactile-Based In-Hand Object Pose Estimation

Roa Garzon, Máximo Alejandro and Alvarez, David and Moreno, Luis (2017) Tactile-Based In-Hand Object Pose Estimation. Robot 2017: Third Iberian Robotics Conference, 22-24 November 2017, Sevilla, Spain. (In Press)

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Abstract

This paper presents a method to estimate the pose of an object inside a robotic hand by exploiting contact and joint position information. Once an initial visual estimation is provided, a Bootstrap Particle Filter is used to evaluate multiple hypothesis for the object pose. The function used to score the hypothesis considers feasibility and physical meaning of the contacts between the object and the hand. The method provides a good estimation of in-hand pose for different 3D objects.

Item URL in elib:https://elib.dlr.de/116808/
Document Type:Conference or Workshop Item (Lecture)
Title:Tactile-Based In-Hand Object Pose Estimation
Authors:
AuthorsInstitution or Email of AuthorsAuthors ORCID iD
Roa Garzon, Máximo AlejandroMaximo.Roa (at) dlr.dehttps://orcid.org/0000-0003-1708-4223
Alvarez, Daviddasanche (at) ing.uc3m.esUNSPECIFIED
Moreno, Luislmoreno (at) ing.uc3m.esUNSPECIFIED
Date:November 2017
Refereed publication:No
Open Access:No
Gold Open Access:No
In SCOPUS:No
In ISI Web of Science:No
Status:In Press
Keywords:pose estimation, tactile sensor, grasp planning
Event Title:Robot 2017: Third Iberian Robotics Conference
Event Location:Sevilla, Spain
Event Type:international Conference
Event Dates:22-24 November 2017
HGF - Research field:Aeronautics, Space and Transport
HGF - Program:Space
HGF - Program Themes:Space Technology
DLR - Research area:Raumfahrt
DLR - Program:R SY - Technik für Raumfahrtsysteme
DLR - Research theme (Project):R - Vorhaben on Orbit Servicing
Location: Oberpfaffenhofen
Institutes and Institutions:Institute of Robotics and Mechatronics (since 2013) > Autonomy and Teleoperation
Deposited By: Roa Garzon, Dr. Máximo Alejandro
Deposited On:07 Dec 2017 17:17
Last Modified:07 Dec 2017 17:17

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