Tactile SLAM: Real-time inference of shape and pose from planar pushing
Sudharshan Suresh Maria Bauza Kuan-Ting Yu Joshua G. Mangelson Alberto Rodriguez Michael Kaess Sudharshan Suresh Maria Bauza Kuan-Ting Yu Joshua G. Mangelson Alberto Rodriguez Michael Kaess
Tactile perception is central to robot manipulation in unstructured environments. However, it requires contact, and a mature implementation must infer object models while also accounting for the motion induced by the interaction. In this work, we present a method to estimate both object shape and pose in real-time from a stream of tactile measurements. This is applied towards tactile exploration o...