An automated tactile sensing strategy for planar object recognitionand localization
Schneiter, J.L.
Sheridan, T.B.
General Electric Corp., Schenectady, NY;
This paper appears in: Pattern Analysis and Machine Intelligence, IEEE Transactions on
Publication Date: Aug 1990
Volume: 12,
Issue: 8
On page(s): 775-786
ISSN: 0162-8828
References Cited: 39
CODEN: ITPIDJ
INSPEC Accession Number: 3746882
Digital Object Identifier: 10.1109/34.57668
Current Version Published: 2002-08-06
Abstract
The planning problem associated with tactile exploration for
object recognition and localization is addressed. Given that an object
has been sensed and is one of a number of modeled objects, and given
that the data obtained so far are insufficient for recognition and/or
localization, the methods developed determin the paths along which a
point contact sensor must be directed in order to obtain further highly
diagnostic measurements. Three families of sensor paths are found. The
first is the family of paths for which recognition and localization are
guaranteed. The second guarantees only that something will be learned.
The third represents paths to avoid because nothing new will be learned.
The methods are based on a small but powerful set of geometric ideas and
are developed for two-dimensional, planar-faced objects. They are
conceptually easily generalized to handle three-dimensional objects,
including objects with through holes
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