Tracking objects with point clouds from vision and touch

@article{Izatt2017TrackingOW,
  title={Tracking objects with point clouds from vision and touch},
  author={Gregory Izatt and Geronimo Mirano and E. Adelson and Russ Tedrake},
  journal={2017 IEEE International Conference on Robotics and Automation (ICRA)},
  year={2017},
  pages={4000-4007}
}
We present an object-tracking framework that fuses point cloud information from an RGB-D camera with tactile information from a GelSight contact sensor. GelSight can be treated as a source of dense local geometric information, which we incorporate directly into a conventional point-cloud-based articulated object tracker based on signed-distance functions. Our implementation runs at 12 Hz using an online depth reconstruction algorithm for GelSight and a modified second-order update for the… Expand
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