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Tactile Recognition and Localization Using Object Models: The Case of Polyhedra on a Plane

Author(s)
Gaston, Peter C.; Lozano-Perez, Tomaso
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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.
Date issued
1983-03-01
URI
http://hdl.handle.net/1721.1/6378
Other identifiers
AIM-705
Series/Report no.
AIM-705

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  • AI Memos (1959 - 2004)

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