MultiSCOPE: Disambiguating In-Hand Object Poses with Proprioception and Tactile Feedback

Abstract

In this paper, we propose a method for estimating in-hand object poses using proprioception and tactile feedback from a bimanual robotic system.Our method addresses the problem of reducing pose uncertainty through a sequence of frictional contact interactions between the grasped objects.As part of our method, we propose 1) a tool segmentation routine that facilitates contact location and object pose estimation, 2) a loss that allows reasoning over solution consistency between interactions, and 3) a loss to promote converging to object poses and contact locations that explain the external forcetorque experienced by each arm.We demonstrate the efficacy of our method in a task-based demonstration both in simulation and on a real-world bimanual platform and show significant improvement in object pose estimation over single interactions.Visit www.mmintlab.