Abstract
The computer vision techniques have been widely used in the robotic manipulation for perception and positioning. However, duo to the inaccuracy of camera calibration and measurement, there is a greatly need for more accurate method to estimate the object pose especially for robotic precise manipulation. In this paper, we propose a novel pose estimation method of object in robotic manipulation using a vision-based tactile sensor. The structure of the tactile sensor and the proposed model are introduced in detail, and verification experiments have been performed. The results show the advantages and better performance of the proposed method.
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Acknowledgement
This research was sponsored by the Major Project of the New Generation of Artificial Intelligence (No. 2018AAA0102900) and the China Postdoctoral Science Foundation Grant (No. 2019TQ0170).
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Zhao, D., Sun, F., Zhou, Q., Wang, Z. (2021). A Novel Pose Estimation Method of Object in Robotic Manipulation Using Vision-Based Tactile Sensor. In: Sun, F., Liu, H., Fang, B. (eds) Cognitive Systems and Signal Processing. ICCSIP 2020. Communications in Computer and Information Science, vol 1397. Springer, Singapore. https://doi.org/10.1007/978-981-16-2336-3_24
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DOI: https://doi.org/10.1007/978-981-16-2336-3_24
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