Object shape recognition from tactile images using regional descriptors

摘要

This paper presents a novel approach of shape recognition from the tactile images by touching the surface of various real life objects. Here four geometric shaped objects (viz. a planar surface, object with one edge, a cubical object i.e. object with two edges and a cylindrical object) are used for shape recognition. The high pressure regions denoting surface edges have been segmented out via multilevel thresholding. These high pressure regions hereby obtained were unique to different object classes. Some regional descriptors have been used to uniquely describe the high pressure regions. These regional descriptors have been employed as the features needed for the classification purpose. Linear Support Vector Machine (LSVM) classifier is used for object shape classification. In noise free environment the classifier gives an average accuracy of 92.6%. Some statistical tests have been performed to prove the efficacy of the classification process. The classifier performance is also tested in noisy environment with different signal-to-noise (SNR) ratios.