# Tactile Mapping and Localization from High-Resolution Tactile Imprints

## TL;DR

This paper presents methods for reconstructing object shapes and localizing objects using high-resolution tactile sensors, enabling precise tactile feedback and reactive manipulation in robotic systems.

## Contribution

It introduces novel algorithms for shape reconstruction and localization from tactile imprints, applicable to various 3D objects with high accuracy.

## Key findings

- High-accuracy shape reconstruction from tactile data
- Real-time object localization and identification
- Effective tactile feedback for in-hand manipulation

## Abstract

This work studies the problem of shape reconstruction and object localization using a vision-based tactile sensor, GelSlim. The main contributions are the recovery of local shapes from contact, an approach to reconstruct the tactile shape of objects from tactile imprints, and an accurate method for object localization of previously reconstructed objects. The algorithms can be applied to a large variety of 3D objects and provide accurate tactile feedback for in-hand manipulation. Results show that by exploiting the dense tactile information we can reconstruct the shape of objects with high accuracy and do on-line object identification and localization, opening the door to reactive manipulation guided by tactile sensing. We provide videos and supplemental information in the project's website http://web.mit.edu/mcube/research/tactile_localization.html.