Tactile Recognition and Localization Using Object Models: The Case of Polyhedra on a Plane

摘要

This paper discusses how data from multiple tactile sensors may be used to identify and locate one object, from among a set of known objects. The authors use only local information from sensors: the position of contact points, and ranges of surface normals at the contact points. The recognition and localization process is structured as the development and pruning of tree of consistent hypotheses about pairings between contact points and object surfaces. In this paper, they deal with polyhedral objects constrained to lie on a known plane, i.e., having three degrees of positioning freedom relative to the sensors. (Author)