TacSE3 estimates incremental SE(3) motion from paired visuotactile sensors by deriving planar translation from contact-centroid shifts and rotation from shear responses for in-gripper tracking.
3d-vitac: Learning fine-grained manipulation with visuo-tactile sensing,
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TacSE3: Equivariant SE(3) Motion Estimation from Low-Texture Visuotactile Images for In-Gripper Tracking and Compensation
TacSE3 estimates incremental SE(3) motion from paired visuotactile sensors by deriving planar translation from contact-centroid shifts and rotation from shear responses for in-gripper tracking.