In this paper, we address the problem of estimating the in-hand 6D pose of an object in contact with multiple vision-based tactile sensors. Details in the paper:

Collision-aware In-hand 6D Pose Estimation using Multiple Vision-based Tactile Sensors by Gabriele M. Caddeo, Nicola A. Piga, Fabrizio Bottarel, Lorenzo Natale, IEEE-RAS ICRA 2023.

Link to preprint: [ Ссылка ]

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