# PatchGraph: In-hand tactile tracking with learned surface normals

> Research article (2022 International Conference on Robotics and Automation (ICRA), 2022) · cited 20× · AI/ML

**Wikidata**: [openalex:W3214095120](https://www.wikidata.org/wiki/openalex:W3214095120)  
**Source**: https://4ort.xyz/entity/patchgraph-in-hand-tactile-tracking-with-learned-surface-normals