In-Hand Pose Estimation Using Hand-Mounted RGB Cameras and Visuotactile Sensors

In-Hand Pose Estimation Using Hand-Mounted RGB Cameras and Visuotactile Sensors

This paper proposes a method to estimate the 6D pose of an object grasped by a robot hand using RGB cameras mounted on the palm and visuotactile sensors installed at the fingertips. It can deal with objects made from a wide range of materials thanks to combining the two types of sensors. The method...

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Bibliographic Details
Main Authors: Yuan Gao, Shogo Matsuoka, Weiwei Wan, Takuya Kiyokawa, Keisuke Koyama, Kensuke Harada
Format: Article
Language:English
Published: IEEE 2023-01-01
Series:IEEE Access
Subjects:
In-hand pose estimation
visuotactile sensors
robotic manipulation
Online Access:https://ieeexplore.ieee.org/document/10043666/

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