Title :
Robotic tactile recognition of pseudo-random encoded objects
Author :
Petriu, Emil M. ; Yeung, Stephen K S ; Das, Sunil R. ; Spoelder, Hans J W
Author_Institution :
Ottawa Univ., Ont., Canada
Abstract :
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.
Keywords :
object recognition; object-oriented methods; robot vision; tactile sensors; 3D object; PRA window property; absolute coordinate; database storing; geometric symbol; model-based method; object surface; object-model; pseudorandom array; pseudorandom encoded object; robotic tactile recognition; Encoding; Feedback; Galois fields; Image recognition; Object recognition; Polynomials; Robot kinematics; Robot sensing systems; Robot vision systems; Shift registers;
Conference_Titel :
Instrumentation and Measurement Technology Conference, 2003. IMTC '03. Proceedings of the 20th IEEE
Print_ISBN :
0-7803-7705-2
DOI :
10.1109/IMTC.2003.1207980
