Vision and Tactile Robotic System to Grasp Litter in Outdoor Environments (2023) 

"Vision and Tactile Robotic System to Grasp Litter in Outdoor Environments" published in Journal of Intelligent & Robotic Systems(JINT), vol. 109, no. 36, October 2023 (DOI: 10.1007/s10846-023-01930-2).
This video shows our manipulator robotic system collecting litter in outdoor environments following a three step process:
Detect and recognise litter using color image.
Compute 3D location using depth image and segment the litter, having a 3D point cloud.
Pick it up using a gripper with tactile sensors at the fingertips.