Precise Multi-Modal In-Hand Pose Estimation using Low-Precision Sensors for Robotic Assembly
Felix von Drigalski Kennosuke Hayashi Yifei Huang Ryo Yonetani Masashi Hamaya Kazutoshi Tanaka Yoshihisa Ijiri Felix von Drigalski Kennosuke Hayashi Yifei Huang Ryo Yonetani Masashi Hamaya Kazutoshi Tanaka Yoshihisa Ijiri
In industrial assembly tasks, the in-hand pose of grasped objects needs to be known with high precision for subsequent manipulation tasks such as insertion. This problem (in-hand-pose estimation) has traditionally been addressed using visual recognition or tactile sensing. On the one hand, while visual recognition can provide efficient pose estimates, it tends to suffer from low precision due to n...