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Tactile Object Recognition and Localization Using Spatially-Varying Appearance

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Robotics Research

Part of the book series: Springer Tracts in Advanced Robotics ((STAR,volume 100))

Abstract

In this work, we present a new method for doing object recognition using tactile force sensors that makes use of recent work on “tactile appearance” to describe objects by the spatially-varying appearance characteristics of their surface texture. The method poses recognition as a localization problem with a discrete component of the state representing object identity, allowing the application of sequential state estimation techniques from the mobile robotics literature. Ideas from geometric hashing approaches are incorporated to enable efficient updating of probabilities over object identity and pose. The method’s strong performance is demonstrated experimentally both in simulation and using physical sensors.

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Acknowledgements

This work was supported by NSF grants MRI-0722943 and IIS-0748338, and a Link Foundation Fellowship for Simulation and Training.

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Authors and Affiliations

  1. Johns Hopkins University, Baltimore, MD, USA

    Zachary Pezzementi & Gregory D. Hager

Authors
  1. Zachary Pezzementi
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  2. Gregory D. Hager
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Corresponding author

Correspondence to Zachary Pezzementi .

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Editors and Affiliations

  1. Robotics and Intelligent Machines, Georgia Institute of Technology College of Computing, Atlanta, Georgia, USA

    Henrik I. Christensen

  2. Department of Computer Science, Stanford University, Stanford, California, USA

    Oussama Khatib

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Pezzementi, Z., Hager, G.D. (2017). Tactile Object Recognition and Localization Using Spatially-Varying Appearance. In: Christensen, H., Khatib, O. (eds) Robotics Research . Springer Tracts in Advanced Robotics, vol 100. Springer, Cham. https://doi.org/10.1007/978-3-319-29363-9_12

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  • DOI: https://doi.org/10.1007/978-3-319-29363-9_12

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-29362-2

  • Online ISBN: 978-3-319-29363-9

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