ViHOPE: Visuotactile In-Hand Object 6D Pose Estimation with Shape Completion

Hongyu Li, Snehal Dikhale, Soshi Iba +1

In this letter, we introduce ViHOPE, a novel framework for estimating the 6D pose of an in-hand object using visuotactile perception. Our key insight is that the accuracy of the 6D…