NDLI: Use of tactile sensors in enhancing the efficiency of vision-based object localization

Content Provider	IEEE Xplore Digital Library
Author	Boshra, M. Hong Zhang
Copyright Year	1994
Description	Author affiliation: Dept. of Comput. Sci., Alberta Univ., Edmonton, Alta., Canada (Boshra, M.; Hong Zhang)
Abstract	We present a technique to localize polyhedral objects by integrating visual and tactile data. This technique is useful in tasks such as localizing an object in a robot hand. It is assumed that visual data are provided by a monocular visual sensor, while tactile data by a planar-array tactile sensor in contact with the object. Visual data are used to generate a set of hypotheses about the 3D object's pose, while tactile data to assist in verifying the visually-generated pose hypotheses. We specifically focus on using tactile data in hypothesis verification. A set of indexed bounds on the object's six transformation parameters are constructed from the tactile data. These indexed bounds are constructed off-line by expressing them with respect to a tactile-array frame. At run-time, each visually-generated hypothesis is efficiently compared with the touch-based bounds to determine whether to eliminate the hypothesis, or to consider it for further verification. The proposed technique is tested using simulated and real data.
Starting Page	243
Ending Page	250
File Size	685974
Page Count	8
File Format	PDF
ISBN	0780320727
DOI	10.1109/MFI.1994.398446
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1994-10-02
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Tactile sensors Robot sensing systems Layout Object recognition Robot kinematics Computer vision Robot vision systems Runtime Testing Computational modeling
Content Type	Text
Resource Type	Article

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