Tactile Recognition and Localization Using Object Models: The Case of Polyhedra on a Plane (1983)
| Venue: | IEEE Transactions on Pattern Analysis and Machine Intelligence |
| Citations: | 40 - 0 self |
BibTeX
@ARTICLE{Gaston83tactilerecognition,
author = {Peter C. Gaston and Toms Lozano-Prez},
title = {Tactile Recognition and Localization Using Object Models: The Case of Polyhedra on a Plane},
journal = {IEEE Transactions on Pattern Analysis and Machine Intelligence},
year = {1983},
volume = {6},
pages = {257--265}
}
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Abstract
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.
