TY - CHAP
T1 - Localizing the object contact through matching tactile features with visual map
AU - Luo, Shan
AU - Mou, Wenxuan
AU - Althoefer, Kaspar
AU - Liu, Hongbin
N1 - Publisher Copyright:
© 2015 IEEE.
PY - 2015/6/29
Y1 - 2015/6/29
N2 - This paper presents a novel framework for integration of vision and tactile sensing by localizing tactile readings in a visual object map. Intuitively, there are some correspondences, e.g., prominent features, between visual and tactile object identification. To apply it in robotics, we propose to localize tactile readings in visual images by sharing same sets of feature descriptors through two sensing modalities. It is then treated as a probabilistic estimation problem solved in a framework of recursive Bayesian filtering. Feature-based measurement model and Gaussian based motion model are thus built. In our tests, a tactile array sensor is utilized to generate tactile images during interaction with objects and the results have proven the feasibility of our proposed framework.
AB - This paper presents a novel framework for integration of vision and tactile sensing by localizing tactile readings in a visual object map. Intuitively, there are some correspondences, e.g., prominent features, between visual and tactile object identification. To apply it in robotics, we propose to localize tactile readings in visual images by sharing same sets of feature descriptors through two sensing modalities. It is then treated as a probabilistic estimation problem solved in a framework of recursive Bayesian filtering. Feature-based measurement model and Gaussian based motion model are thus built. In our tests, a tactile array sensor is utilized to generate tactile images during interaction with objects and the results have proven the feasibility of our proposed framework.
UR - http://www.scopus.com/inward/record.url?scp=84938253421&partnerID=8YFLogxK
U2 - 10.1109/ICRA.2015.7139743
DO - 10.1109/ICRA.2015.7139743
M3 - Conference paper
AN - SCOPUS:84938253421
T3 - Proceedings - IEEE International Conference on Robotics and Automation
SP - 3903
EP - 3908
BT - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2015 IEEE International Conference on Robotics and Automation, ICRA 2015
Y2 - 26 May 2015 through 30 May 2015
ER -