Center-of-Mass-based Robust Grasp Pose Adaptation Using RGBD Camera and Force/Torque Sensing.
Shang LiuXiaobao WeiLulu WangJing ZhangBoyu LiHaosong YuePublished in: CoRR (2022)
Keyphrases
- object pose
- partial occlusion
- pose estimation
- model based pose estimation
- time of flight
- real time
- single camera
- pose estimates
- position and orientation
- video camera
- sensor networks
- illumination variations
- camera calibration
- image sensor
- camera parameters
- structure from motion
- camera motion
- relative pose
- computer vision
- direct drive
- contact force
- sensor fusion
- perspective projection
- real scenes
- field of view
- focal length
- multiple cameras