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This work presents an octopus\u2010inspired suction cup with high\u2010resolution tactile sensing capabilities using a camera that captures the displacement of markers that are integrated in the suction cup. The orientation of the suction cup with respect to an object surface could be predicted with an average error of 1.97\u00b0 for latitude and 9.41\u00b0 for longitude. In a closed\u2010loop control experiment, the orientation of the suction cup with respect to the object surface is estimated by an initial touch and the suction cup is consequently reoriented to approach the object surface in a perpendicular manner. The passive compliance of the suction cup is sufficient to compensate for the prediction error and a seal could be created on all of the objects. 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