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cs.RO2025
Simultaneous Extrinsic Contact and In-Hand Pose Estimation via Distributed Tactile Sensing
Mark Van der Merwe, Kei Ota, Dmitry Berenson +2
Prehensile autonomous manipulation, such as peg insertion, tool use, or assembly, require precise in-hand understanding of the object pose and the extrinsic contacts made during in…
cs.RO2021
Rover Relocalization for Mars Sample Return by Virtual Template Synthesis and Matching
Tu-Hoa Pham, William Seto, Shreyansh Daftry +11
We consider the problem of rover relocalization in the context of the notional Mars Sample Return campaign. In this campaign, a rover (R1) needs to be capable of autonomously navig…