Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Realtime State Estimation with Tactile and Visual sensing. Application
  to Planar Manipulation   Accurate and robust object state estimation enables successful object
manipulation. Visual sensing is widely used to estimate object poses. However,
in a cluttered scene or in a tight workspace, the robot's end-effector often
occludes the object from the visual sensor. The robot then loses visual
feedback and must fall back on open-loop execution.
  In this paper, we integrate both tactile and visual input using a framework
for solving the SLAM problem, incremental smoothing and mapping (iSAM), to
provide a fast and flexible solution. Visual sensing provides global pose
information but is noisy in general, whereas contact sensing is local, but its
measurements are more accurate relative to the end-effector. By combining them,
we aim to exploit their advantages and overcome their limitations. We explore
the technique in the context of a pusher-slider system. We adapt iSAM's
measurement cost and motion cost to the pushing scenario, and use an
instrumented setup to evaluate the estimation quality with different object
shapes, on different surface materials, and under different contact modes.

9
The categories of this paper are: nlin
2
The categories of this paper are: math
29
The categories of this paper are: funct-an
28
The categories of this paper are: alg-geom
8
The categories of this paper are: hep-ex
26
The categories of this paper are: bayes-an
6
The categories of this paper are: astro-ph
0
The categories of this paper are: hep-ph
18
The categories of this paper are: econ
11
The categories of this paper are: hep-lat
22
The categories of this paper are: chao-dyn
35
The categories of this paper are: mtrl-th
3
The categories of this paper are: physics
10
The categories of this paper are: q-bio
33
The categories of this paper are: plasm-ph
4
The categories of this paper are: cond-mat