公开(公告)号：US12087012B2

公开(公告)日：2024-09-10

申请号：US17372869

申请日：2021-07-12

Applicant: Honda Motor Co., Ltd.

Inventor： Snehal Dikhale ,  Karankumar Patel ,  Daksh Dhingra ,  Soshi Iba ,  Nawid Jamali

IPC: G06T7/73 ,  G01S13/86 ,  G01S17/86 ,  G06T7/11

CPC classification number: G06T7/74 ,  G01S13/867 ,  G01S17/86 ,  G06T7/11 ,  G06T2207/10024 ,  G06T2207/10028 ,  G06T2207/20084 ,  G06T2207/20221

Abstract: Systems and methods for visuo-tactile object pose estimation are provided. In one embodiment, a computer implemented method includes receiving image data, depth data, and tactile data about the object in the environment. The computer implemented method also includes generating a visual estimate of the object that includes an object point cloud. The computer implemented method further includes generating a tactile estimate of the object that includes a surface point cloud based on the tactile data. The computer implemented method yet further includes estimating a pose of the object based on the visual estimate and the tactile estimate by fusing the object point cloud and the surface point cloud in a 3D space. The pose is a six-dimensional pose.