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Sensing and describing 3-D structure

Peter K. Allen

Title:
Sensing and describing 3-D structure
Author(s):
Allen, Peter K.
Date:
Type:
Articles
Department:
Computer Science
Permanent URL:
Book/Journal Title:
Proceedings : 1986 IEEE International Conference on Robotics and Automation : April 7-10, 1986, the San Francisco Hilton and Tower, San Francisco, California
Publisher:
IEEE Computer Society
Publisher Location:
Washington, D.C.
Abstract:
Discovering the three dimensional structure of an object is important for a variety of robot tasks. Single sensor systems such as machine vision systems cannot reliably compute three dimensional structure in unconstrained environments. Active, exploratory tactile sensing can be used to complement passive stereo vision data to derive robust surface and feature descriptions of objects. The control for tactile sensing is provided by the vision system which provides regions of interest that the tactile system can explore. The descriptions of surfaces and features are accurate and can be used in a later matching phase against a model data base of objects to identify the object and its position and orientation in space.
Subject(s):
Robotics
Publisher DOI:
http://dx.doi.org/10.1109/ROBOT.1986.1087717
Item views:
66
Metadata:
text | xml

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