2013-226 – manifold pf. an implementation of the manifold particle filter for OpenRAVE

Manifold_pf is an implementation of a manifold particle filter in the OpenRAVE robotics simulation environment. The manifold particle filter is an algorithm for tracking the pose of an object during manipulation using tactile sensors by sampling dual particles from the contact manifold. This implementation of the algorithm is built around a simulation environment abstraction layer and its functionality is exposed through OpenRAVE and ROS bindings. Scott McEvoy smcevoy@andrew.cmu.edu 412-268-6053