From swept contact to pose: Probe-aware registration via complementary-shape docking

arXiv:2605.21398 · cs.RO · Submitted 2026-05-20 · Read on arXiv

cs.RO

Submitted: 2026-05-20

Updated: 2026-05-20

Comments: 8 pages, 9 figures, accepted to ICRA 2026

Journal ref: 2026 IEEE International Conference on Robotics and Automation (ICRA), pp. 13850-13857

DOI: 10.1109/ICRA57385.2026.11697166

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Calibration — 2× in this paper · explained in 9 episodes
• Accuracy — 1× in this paper · explained in 1 episode
• Robustness — 1× in this paper · explained in 5 episodes

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