VisuoTactile 6D Pose Estimation of an In-Hand Object using Vision and Tactile Sensor Data

Snehal s. Dikhale, Karankumar Patel, Daksh Dhingra +4

Knowledge of the 6D pose of an object can benefit in-hand object manipulation. In-hand 6D object pose estimation is challenging because of heavy occlusion produced by the robot's g…