9 papers
Diffusion-based Inverse Model of a Distributed Tactile Sensor for Object Pose Estimation
Ante MariÄ, Giammarco Caroleo, Alessandro Albini +3
Tactile sensing provides a promising sensing modality for object pose estimation in manipulation settings where visual information is limited due to occlusion or environmental effe…
Representing Data in Robotic Tactile Perception -- A Review
Alessandro Albini, Mohsen Kaboli, Giorgio Cannata +1
Robotic tactile perception is a complex process involving several computational steps performed at different levels. Tactile information is shaped by the interplay of robot actions…
Improving Tactile Gesture Recognition with Optical Flow
Shaohong Zhong, Alessandro Albini, Giammarco Caroleo +2
Tactile gesture recognition systems play a crucial role in Human-Robot Interaction (HRI) by enabling intuitive communication between humans and robots. The literature mainly addres…
Estimating Scene Flow in Robot Surroundings with Distributed Miniaturized Time-of-Flight Sensors
Jack Sander, Giammarco Caroleo, Alessandro Albini +1
Tracking motions of humans or objects in the surroundings of the robot is essential to improve safe robot motions and reactions. In this work, we present an approach for scene flow…
Tiny LiDARs for Manipulator Self-Awareness: Sensor Characterization and Initial Localization Experiments
Giammarco Caroleo, Alessandro Albini, Daniele De Martini +2
For several tasks, ranging from manipulation to inspection, it is beneficial for robots to localize a target object in their surroundings. In this paper, we propose an approach tha…
Diffusion-based Inverse Observation Model for Artificial Skin
Ante Maric, Julius Jankowski, Giammarco Caroleo +3
Contact-based estimation of object pose is challenging due to discontinuities and ambiguous observations that can correspond to multiple possible system states. This multimodality…