Title :
Three dimensional object recognition using integrated robotic vision and tactile sensing
Author :
Yeung, S.K. ; McMath, W.S. ; Petriu, E.M. ; Trif, N.
Author_Institution :
Canadian Space Agency, Ottawa, Ont., Canada
Abstract :
Summarizes current development of a robotic sensing system to enhance the perceptive intelligence of manipulators working in relatively structured environments. The system consists of vision and tactile sensors which would be used to identify objects within a workspace and to determine their absolute position and orientation. A visual object recognition strategy is discussed, and a technique for fusing robot kinematics and tactile image data is described
Keywords :
computer vision; kinematics; robots; tactile sensors; 3D object recognition; computer vision; manipulators; perceptive intelligence; relatively structured environments; robot kinematics; robotic sensing system; robotic vision; tactile sensing; visual object recognition strategy; End effectors; Image coding; Intelligent robots; Machine vision; Manipulators; Object recognition; Orbital robotics; Robot sensing systems; Robot vision systems; Space stations;
Conference_Titel :
Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on
Conference_Location :
Osaka
Print_ISBN :
0-7803-0067-X
DOI :
10.1109/IROS.1991.174696
