NDLI: Whiskered texture classification with uncertain contact pose geometry

Content Provider	IEEE Xplore Digital Library
Author	Evans, M.H. Pearson, M.J. Lepora, N.F. Prescott, T.J. Fox, C.W.
Copyright Year	2012
Description	Author affiliation: Bristol Robotics Laboratory, BS16 1QD, U.K. (Pearson, M.J.) \|\| Sheffield Centre for Robotics (SCentRo), University of Sheffield, S10 2TN, U.K. (Evans, M.H.; Lepora, N.F.; Prescott, T.J.; Fox, C.W.)
Abstract	Tactile sensing can be an important source of information for robots, and texture discrimination in particular is useful in object recognition and terrain identification. Whisker based tactile sensing has recently been shown to be a promising approach for mobile robots, using simple sensors and many classification approaches. However these approaches have often been tested in limited environments, and have not been compared against one another in a controlled way. A wide range of whisker-object contact poses are possible on a mobile robot, and the effect such contact variability has on sensing has not been properly investigated. We present a novel, carefully controlled study of simple surface texture classifiers on a large set of varied pose conditions that mimic those encountered by mobile robots. Namely, single brief whisker contacts with textured surfaces at a range of surface orientations and contact speeds. Results show that different classifiers are appropriate for different settings, with spectral template and feature based approaches performing best in surface texture, and contact speed estimation, respectively. The results may be used to inform selection of classifiers in tasks such as tactile SLAM.
Starting Page	7
Ending Page	13
File Size	1492707
Page Count	7
File Format	PDF
ISBN	9781467317375
ISSN	21530858
e-ISBN	9781467317368
DOI	10.1109/IROS.2012.6385634
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2012-10-07
Publisher Place	Portugal
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Surface texture Estimation Robot sensing systems Mobile robots Standards
Content Type	Text
Resource Type	Article
Subject	Control and Systems Engineering Computer Science Applications Computer Vision and Pattern Recognition Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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