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

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. The authors use only local information from sensors: the position of contact points, and ranges of surface normals at the contact points. The recognition and localization process is structured as the development and pruning of tree of consistent hypotheses about pairings between contact points and object surfaces. In this paper, they deal with polyhedral objects constrained to lie on a known plane, i.e., having three degrees of positioning freedom relative to the sensors. (Author)

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Document Details

Document Type
Technical Report
Publication Date
Mar 01, 1983
Accession Number
ADA127228

Entities

People

  • Peter C. Gaston
  • Tomas Lozano-Pérez

Organizations

  • Massachusetts Institute of Technology

Tags

Communities of Interest

  • Materials and Manufacturing Processes
  • Sensors

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  • Algorithms
  • Artificial Intelligence
  • Classification
  • Computations
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  • Massachusetts
  • Measurement
  • Military Research
  • Model Tests
  • Pattern Recognition
  • Pressure Distribution
  • Recognition
  • Security
  • Statistics
  • Three Dimensional
  • Two Dimensional

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  • Computer Vision.