Shape and Pose Recovery from Planar Pushing
Tactile exploration refers to the use of physical interaction to infer object properties. In this work, we study the feasibility of recovering the shape and pose of a movable object from observing a series of contacts. In particular, we approach the problem of estimating the shape and trajectory of...
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| Format: | Article |
| Language: | en_US |
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Institute of Electrical and Electronics Engineers (IEEE)
2015
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| Online Access: | http://hdl.handle.net/1721.1/100413 https://orcid.org/0000-0002-8863-6550 https://orcid.org/0000-0002-1119-4512 https://orcid.org/0000-0002-8954-2310 |
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| author | Yu, Kuan-Ting Leonard, John Joseph Rodriguez, Alberto |
| author2 | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory |
| author_facet | Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Yu, Kuan-Ting Leonard, John Joseph Rodriguez, Alberto |
| author_sort | Yu, Kuan-Ting |
| collection | MIT |
| description | Tactile exploration refers to the use of physical interaction to infer object properties. In this work, we study the feasibility of recovering the shape and pose of a movable object from observing a series of contacts. In particular, we approach the problem of estimating the shape and trajectory of a planar object lying on a frictional surface, and being pushed by a frictional probe. The probe, when in contact with the object, makes observations of the location of contact and the contact normal.
Our approach draws inspiration from the SLAM problem, where noisy observations of the location of landmarks are used to reconstruct and locate a static environment. In tactile exploration, analogously, we can think of the object as a rigid but moving environment, and of the pusher as a sensor that reports contact points on the boundary of the object.
A key challenge to tactile exploration is that, unlike visual feedback, sensing by touch is intrusive in nature. The object moves by the action of sensing. In the 2D version of the problem that we study in this paper, the well understood mechanics of planar frictional pushing provides a motion model that plays the role of odometry. The conjecture we investigate in this paper is whether the models of frictional pushing are sufficiently descriptive to simultaneously estimate the shape and pose of an object from the cumulative effect of a sequence of pushes. |
| first_indexed | 2024-09-23T10:07:54Z |
| format | Article |
| id | mit-1721.1/100413 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T10:07:54Z |
| publishDate | 2015 |
| publisher | Institute of Electrical and Electronics Engineers (IEEE) |
| record_format | dspace |
| spelling | mit-1721.1/1004132022-09-30T19:05:43Z Shape and Pose Recovery from Planar Pushing Yu, Kuan-Ting Leonard, John Joseph Rodriguez, Alberto Massachusetts Institute of Technology. Computer Science and Artificial Intelligence Laboratory Massachusetts Institute of Technology. Department of Mechanical Engineering Rodriguez, Alberto Yu, Kuan-Ting Rodriguez, Alberto Leonard, John Joseph Tactile exploration refers to the use of physical interaction to infer object properties. In this work, we study the feasibility of recovering the shape and pose of a movable object from observing a series of contacts. In particular, we approach the problem of estimating the shape and trajectory of a planar object lying on a frictional surface, and being pushed by a frictional probe. The probe, when in contact with the object, makes observations of the location of contact and the contact normal. Our approach draws inspiration from the SLAM problem, where noisy observations of the location of landmarks are used to reconstruct and locate a static environment. In tactile exploration, analogously, we can think of the object as a rigid but moving environment, and of the pusher as a sensor that reports contact points on the boundary of the object. A key challenge to tactile exploration is that, unlike visual feedback, sensing by touch is intrusive in nature. The object moves by the action of sensing. In the 2D version of the problem that we study in this paper, the well understood mechanics of planar frictional pushing provides a motion model that plays the role of odometry. The conjecture we investigate in this paper is whether the models of frictional pushing are sufficiently descriptive to simultaneously estimate the shape and pose of an object from the cumulative effect of a sequence of pushes. National Science Foundation (U.S.) (Award IIS-1427050) 2015-12-17T14:18:08Z 2015-12-17T14:18:08Z 2015-09 Article http://purl.org/eprint/type/ConferencePaper http://hdl.handle.net/1721.1/100413 Yu, Kuan-Ting, John Leonard, and Alberto Rodriguez. "Shape and Pose Recovery from Planar Pushing." 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (September 2015). https://orcid.org/0000-0002-8863-6550 https://orcid.org/0000-0002-1119-4512 https://orcid.org/0000-0002-8954-2310 en_US https://ras.papercept.net/conferences/scripts/abstract.pl?ConfID=103&Number=2091 Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems Creative Commons Attribution-Noncommercial-Share Alike http://creativecommons.org/licenses/by-nc-sa/4.0/ application/pdf Institute of Electrical and Electronics Engineers (IEEE) Rodriguez |
| spellingShingle | Yu, Kuan-Ting Leonard, John Joseph Rodriguez, Alberto Shape and Pose Recovery from Planar Pushing |
| title | Shape and Pose Recovery from Planar Pushing |
| title_full | Shape and Pose Recovery from Planar Pushing |
| title_fullStr | Shape and Pose Recovery from Planar Pushing |
| title_full_unstemmed | Shape and Pose Recovery from Planar Pushing |
| title_short | Shape and Pose Recovery from Planar Pushing |
| title_sort | shape and pose recovery from planar pushing |
| url | http://hdl.handle.net/1721.1/100413 https://orcid.org/0000-0002-8863-6550 https://orcid.org/0000-0002-1119-4512 https://orcid.org/0000-0002-8954-2310 |
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