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.
SYSTEMS AND METHODS FOR VISUO-TACTILE OBJECT POSE ESTIMATION