Tactile Recognition and Localization Using Object Models: The Case of Polyhedra on a Plane
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. We use only local information from sensors: (1) the position of contact points, and (2) ranges of surface normals at the contact points. The recognition...
| Main Authors: | , |
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| Language: | en_US |
| Published: |
2004
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| Online Access: | http://hdl.handle.net/1721.1/6378 |
| _version_ | 1811094395826470912 |
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| author | Gaston, Peter C. Lozano-Perez, Tomaso |
| author_facet | Gaston, Peter C. Lozano-Perez, Tomaso |
| author_sort | Gaston, Peter C. |
| collection | MIT |
| description | 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. We use only local information from sensors: (1) the position of contact points, and (2) ranges of surface normals at the contact points. The recognition and localization process is structured as the development and pruning of a tree of consistent hypotheses about pairings between contact points and object surfaces. In this paper, we deal with polyhedral objects constrained to lie on a known plane, i.e., having three degrees of positioning freedom relative to the sensors. |
| first_indexed | 2024-09-23T15:59:22Z |
| id | mit-1721.1/6378 |
| institution | Massachusetts Institute of Technology |
| language | en_US |
| last_indexed | 2024-09-23T15:59:22Z |
| publishDate | 2004 |
| record_format | dspace |
| spelling | mit-1721.1/63782019-04-12T08:30:27Z Tactile Recognition and Localization Using Object Models: The Case of Polyhedra on a Plane Gaston, Peter C. Lozano-Perez, Tomaso 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. We use only local information from sensors: (1) the position of contact points, and (2) ranges of surface normals at the contact points. The recognition and localization process is structured as the development and pruning of a tree of consistent hypotheses about pairings between contact points and object surfaces. In this paper, we deal with polyhedral objects constrained to lie on a known plane, i.e., having three degrees of positioning freedom relative to the sensors. 2004-10-04T14:54:04Z 2004-10-04T14:54:04Z 1983-03-01 AIM-705 http://hdl.handle.net/1721.1/6378 en_US AIM-705 3949108 bytes 3084365 bytes application/postscript application/pdf application/postscript application/pdf |
| spellingShingle | Gaston, Peter C. Lozano-Perez, Tomaso Tactile Recognition and Localization Using Object Models: The Case of Polyhedra on a Plane |
| title | Tactile Recognition and Localization Using Object Models: The Case of Polyhedra on a Plane |
| title_full | Tactile Recognition and Localization Using Object Models: The Case of Polyhedra on a Plane |
| title_fullStr | Tactile Recognition and Localization Using Object Models: The Case of Polyhedra on a Plane |
| title_full_unstemmed | Tactile Recognition and Localization Using Object Models: The Case of Polyhedra on a Plane |
| title_short | Tactile Recognition and Localization Using Object Models: The Case of Polyhedra on a Plane |
| title_sort | tactile recognition and localization using object models the case of polyhedra on a plane |
| url | http://hdl.handle.net/1721.1/6378 |
| work_keys_str_mv | AT gastonpeterc tactilerecognitionandlocalizationusingobjectmodelsthecaseofpolyhedraonaplane AT lozanopereztomaso tactilerecognitionandlocalizationusingobjectmodelsthecaseofpolyhedraonaplane |