Localizing the Object Contact through Matching Tactile Features with Visual Map

Luo, Shan ORCID: 0000-0003-4760-0372, Mou, Wenxuan, Althoefer, Kaspar and Liu, Hongbin (2015) Localizing the Object Contact through Matching Tactile Features with Visual Map. In: 2015 IEEE International Conference on Robotics and Automation (ICRA), 2015-5-26 - 2015-5-30, Seattle, WA, USA.

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Abstract

This paper presents a novel framework for integration of vision and tactile sensing by localizing tactile readings in a visual object map. Intuitively, there are some correspondences, e.g., prominent features, between visual and tactile object identification. To apply it in robotics, we propose to localize tactile readings in visual images by sharing same sets of feature descriptors through two sensing modalities. It is then treated as a probabilistic estimation problem solved in a framework of recursive Bayesian filtering. Feature-based measurement model and Gaussian based motion model are thus built. In our tests, a tactile array sensor is utilized to generate tactile images during interaction with objects and the results have proven the feasibility of our proposed framework.

Item Type:	Conference or Workshop Item (Unspecified)
Uncontrolled Keywords:	Neurosciences, Clinical Research, Bioengineering, Eye Disease and Disorders of Vision
Depositing User:	Symplectic Admin
Date Deposited:	31 Aug 2018 14:42
Last Modified:	15 Mar 2024 14:41
DOI:	10.1109/icra.2015.7139743
Related URLs:	Author Publisher
URI:	https://livrepository.liverpool.ac.uk/id/eprint/3025745