Tactile SLAM: Real-time inference of shape and pose from planar pushing

11/13/2020
by   Sudharshan Suresh, et al.
0

Tactile perception is central to robot manipulation in unstructured environments. However, it requires contact, and a mature implementation must infer object models while also accounting for the motion induced by the interaction. In this work, we present a method to estimate both object shape and pose in real-time from a stream of tactile measurements. This is applied towards tactile exploration of an unknown object by planar pushing. We consider this as an online SLAM problem with a nonparametric shape representation. Our formulation of tactile inference alternates between Gaussian process implicit surface regression and pose estimation on a factor graph. Through a combination of local Gaussian processes and fixed-lag smoothing, we infer object shape and pose in real-time. We evaluate our system across different objects in both simulated and real-world planar pushing tasks.

READ FULL TEXT

page 1

page 3

page 4

page 6

research
09/20/2021

Efficient shape mapping through dense touch and vision

Knowledge of 3-D object shape is of great importance to robot manipulati...
research
12/07/2020

Learning Tactile Models for Factor Graph-based State Estimation

We address the problem of estimating object pose from touch during manip...
research
03/21/2022

Tactile Pose Estimation and Policy Learning for Unknown Object Manipulation

Object pose estimation methods allow finding locations of objects in uns...
research
07/30/2023

Touch if it's transparent! ACTOR: Active Tactile-based Category-Level Transparent Object Reconstruction

Accurate shape reconstruction of transparent objects is a challenging ta...
research
08/26/2022

Semi-Supervised Disentanglement of Tactile Contact Geometry from Sliding-Induced Shear

The sense of touch is fundamental to human dexterity. When mimicked in r...
research
02/13/2018

Active Exploration Using Gaussian Random Fields and Gaussian Process Implicit Surfaces

In this work we study the problem of exploring surfaces and building com...
research
03/14/2023

FingerSLAM: Closed-loop Unknown Object Localization and Reconstruction from Visuo-tactile Feedback

In this paper, we address the problem of using visuo-tactile feedback fo...

Please sign up or login with your details

Forgot password? Click here to reset