Figure 3

Representation of the estimated density function. Top left and right: Initial starting point. All Gaussian functions are uniformly distributed with uniform priors. The red cluster always has the highest likelihood which is taken to be the believed location of the robot’s/human’s end effector. Bottom left: Contact with the table has been established. The robot location differs from his belief. Bottom right: Contact has been made with a corner. The clusters reflect that the robot could be at any corner (note that weights are not depicted, only cluster assignment).