Acquisition and interpretation of 3-D sensor data from touch

Allen, Peter K.; Michelman, Paul

The use of touch sensing as part of a large system being built for 3D shape recovery and object recognition using touch and vision methods is described. The authors focus on three exploratory procedures they have devised 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.



Also Published In

IEEE Transactions on Robotics and Automation

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Academic Units
Computer Science
Published Here
October 25, 2012