Issue No. 03 - March (1984 vol. 6)
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.
P. C. Gaston and T. Lozano-Perez, "Tactile Recognition and Localization Using Object Models: The Case of Polyhedra on a Plane," in IEEE Transactions on Pattern Analysis & Machine Intelligence, vol. 6, no. , pp. 257-266, 1984.