Object mapping, recognition, and localization from tactile geometry

Zachary Pezzementi, Caitlin Reyda, Gregory D. Hager

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

We present a method for performing object recognition using multiple images acquired from a tactile sensor. The method relies on using the tactile sensor as an imaging device, and builds an object representation based on mosaics of tactile measurements. We then describe an algorithm that is able to recognize an object using a small number of tactile sensor readings. Our approach makes extensive use of sequential state estimation techniques from the mobile robotics literature, whereby we view the object recognition problem as one of estimating a consistent location within a set of object maps. We examine and test approaches based on both traditional particle filtering and histogram filtering. We demonstrate both the mapping and recognition / localization techniques on a set of raised letter shapes using real tactile sensor data.

Original languageEnglish (US)
Title of host publication2011 IEEE International Conference on Robotics and Automation, ICRA 2011
Pages5942-5948
Number of pages7
DOIs
StatePublished - Dec 1 2011
Event2011 IEEE International Conference on Robotics and Automation, ICRA 2011 - Shanghai, China
Duration: May 9 2011May 13 2011

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2011 IEEE International Conference on Robotics and Automation, ICRA 2011
CountryChina
CityShanghai
Period5/9/115/13/11

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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