# Simultaneous Contact Location and Object Pose Estimation Using Proprioception and Tactile Feedback

arXiv: https://arxiv.org/abs/2206.01245 · HTML: https://mlsanity.com/paper/2206.01245/

## Key facts

- Cited by 3 papers in the map (data through 14 Oct 2026).
- First posted on arXiv 2 Jun 2022.

## Built on by (most cited first, 3 of 3)

- [Collision-aware In-hand 6D Object Pose Estimation using Multiple Vision-based Tactile Sensors](https://mlsanity.com/paper/2301.13667/) (2023)
- [CHSEL: Producing Diverse Plausible Pose Estimates from Contact and Free Space Data](https://mlsanity.com/paper/2305.08042/) (2023)
- [ViTaSCOPE: Visuo-tactile Implicit Representation for In-hand Pose and Extrinsic Contact Estimation](https://mlsanity.com/paper/2506.12239/) (2025)

## Abstract (arXiv)

Joint estimation of grasped object pose and extrinsic contacts is central to robust and dexterous manipulation. In this paper, we propose a novel state-estimation algorithm that jointly estimates contact location and object pose in 3D using exclusively proprioception and tactile feedback. Our approach leverages two complementary particle filters: one to estimate contact location (CPFGrasp) and another to estimate object poses (SCOPE). We implement and evaluate our approach on real-world single-arm and dual-arm robotic systems. We demonstrate that by bringing two objects into contact, the robots can infer contact location and object poses simultaneously. Our proposed method can be applied to a number of downstream tasks that require accurate pose estimates, such as tool use and assembly. Code and data can be found at https://github.com/MMintLab/scope.