Robotic tactile recognition of pseudo-random encoded objects

This paper discusses a model-based method for the blind tactile recognition of 3D objects. Object surfaces are permanently encoded using distinct geometric symbols embossed on object surfaces with the terms of a "pseudo-random array" (PRA). The PRA window property allows identifying the absolute coordinates of the investigated surface area within the encoding PRA. Knowing how different object-models were originally mapped on the PRA allows recovering the identity of the touched object by a simple consultation of the database storing this mapping.