Acquisition and interpretation of 3-D sensor data from touch

Articles:

Title:: Acquisition and interpretation of 3-D sensor data from touch
Author(s):: Allen, Peter K.
Michelman, Paul
Date:: 1990
Type:: Articles
Department:: Computer Science
Permanent URL:: http://hdl.handle.net/10022/AC:P:15260
Book/Journal Title:: Proceedings : Workshop on Interpretation of 3D Scenes : November 27-29, 1989, Austin, TX
Publisher:: IEEE
Publisher Location:: Los Alamitos, Calif.
Abstract:: A description is given of the use of touch sensing as part of a larger system the authors are building for 3-D shape recovery and object recognition using touch and vision methods. The authors focus on three exploratory procedures (EPs) they have built to acquire and interpret sparse 3D touch data: grasping by containment, planar surface exploration, and surface contour exploration. Experimental results for each of these procedures are presented. The EPs can be used in a coarse-to-fine sensing strategy that tries to build shape descriptions at a number of levels. An important feature of this system is the multiple representations used in recovering and reasoning about shape.
Subject(s):: Robotics
DOI:: http://dx.doi.org/10.1109/TDSCEN.1989.68099