Sensing and describing 3-D structure
- 1 January 1986
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- Vol. 3, 126-131
- https://doi.org/10.1109/robot.1986.1087717
Abstract
Discovering the three dimensional structure of an object is important for a variety of robot tasks. Single sensor systems such as machine vision systems cannot reliably compute three dimensional structure in unconstrained environments. Active, exploratory tactile sensing can be used to complement passive stereo vision data to derive robust surface and feature descriptions of objects. The control for tactile sensing is provided by the vision system which provides regions of interest that the tactile system can explore. The descriptions of surfaces and features are accurate and can be used in a later matching phase against a model data base of objects to identify the object and its position and orientation in space.Keywords
This publication has 8 references indexed in Scilit:
- Computational StereoACM Computing Surveys, 1982
- A High-Resolution Imaging Touch SensorThe International Journal of Robotics Research, 1982
- Pattern Recognition of a Grasped Object by Unit-Vector DistributionIEEE Transactions on Systems, Man, and Cybernetics, 1982
- From Images to SurfacesPublished by MIT Press ,1981
- Theory of edge detectionProceedings of the Royal Society of London. B. Biological Sciences, 1980
- A pattern classification by dynamic tactile sense information processingPattern Recognition, 1975
- Angle Detection on Digital CurvesIEEE Transactions on Computers, 1973
- Representation and Description of Curved ObjectsPublished by Defense Technical Information Center (DTIC) ,1972