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Tactile Recognition and Localization Using Object Models: The Case of Polyhedra on a Plane
March 1984 (vol. 6 no. 3)
pp. 257-266
Peter C. Gaston, Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139; General Computers Company, Cambridge, MA 02139.
Tomas Lozano-Perez, Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139.
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. We illustrate the performance of the algorithm by simulation.
Citation:
Peter C. Gaston, Tomas Lozano-Perez, "Tactile Recognition and Localization Using Object Models: The Case of Polyhedra on a Plane," IEEE Transactions on Pattern Analysis and Machine Intelligence, vol. 6, no. 3, pp. 257-266, March 1984, doi:10.1109/TPAMI.1984.4767518
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