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Issue No.03 - March (1984 vol.6)
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.
ABSTRACT
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 & Machine Intelligence, vol.6, no. 3, pp. 257-266, March 1984, doi:10.1109/TPAMI.1984.4767518
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