VTLoc: Learning-based Tactile Contact Localization in Visual Point Clouds
Vision and touch are complementary modalities essential for robotic perception and manipulation. While vision provides global object context, touch offers precise local information at contact points. Integrating these modalities for contact localization, i.e., predicting the location of touch on an object's surface, poses significant challenges due to the need for accurate spatial alignment between tactile data and visual geometry. To address this challenge, we propose VTLoc, a novel visual-tactile framework that localizes contact points from tactile readings using a 3D point cloud as visual i
