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Tactile Recognition and Localization Using Object Models: The Case of Polyhedra on a Plane

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2 Author(s)
Gaston, Peter C. ; Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139; General Computers Company, Cambridge, MA 02139. ; Lozano-Perez, T.

This paper discusses how data from multiple tactile sensors may be used to identify and locate one object, from among a set of known objects. We use only local information from sensors: 1) the position of contact points and 2) ranges of surface normals at the contact points. The recognition and localization process is structured as the development and pruning of a tree of consistent hypotheses about pairings between contact points and object surfaces. In this paper, we deal with polyhedral objects constrained to lie on a known plane, i.e., having three degrees of positioning freedom relative to the sensors. We illustrate the performance of the algorithm by simulation.

Published in:

Pattern Analysis and Machine Intelligence, IEEE Transactions on  (Volume:PAMI-6 ,  Issue: 3 )

Date of Publication:

May 1984

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