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 ]
![](https://s2.save4k.ru/pic/joR0Yp1zQ_U/maxresdefault.jpg)