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Active Shape Completion Using Tactile Glances
Luleå University of Technology, Department of Computer Science, Electrical and Space Engineering. Aalto University, Department of Electrical Engineering and Automation.
2019 (English)Independent thesis Advanced level (degree of Master (Two Years)), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

One longstanding challenge in the field of robotics has been the robust and reliable grasping of objects of unknown shape. Part of that challenge lies in reconstructing the object’s shape using only limited observations. Most approaches use either visual or tactile information to reconstruct the shape, having to face issues resulting from the limitations of the chosen modality. This thesis tries to combine the strengths of visual and tactile observations by taking the result from an existing visual approach and refining that result through sparse tactile glances.

The existing approach produces potential shape hypotheses in voxel space which get combined into one final shape. This thesis takes that final shape and determines voxels of interest using either entropy or variance. These voxels will be targeted by the exploration, providing information about these voxels. This information will be used to assign weights to the original hypotheses in order for the combined shape to better fit the observations.

All explorations are simulated and evaluated in MATLAB. The resulting shapes are evaluated based on their Jaccard Index with the ground truth model. The algorithm leads to improvements in the Jaccard Index, but not to drastically different looking shapes.

Place, publisher, year, edition, pages
2019. , p. 45
Keywords [en]
shape completion, haptic exploration, robotics
National Category
Robotics
Identifiers
URN: urn:nbn:se:ltu:diva-77170OAI: oai:DiVA.org:ltu-77170DiVA, id: diva2:1378677
Subject / course
Student thesis, at least 30 credits
Educational program
Space Engineering, master's level (120 credits)
Supervisors
Examiners
Available from: 2019-12-16 Created: 2019-12-13 Last updated: 2019-12-16Bibliographically approved

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Department of Computer Science, Electrical and Space Engineering
Robotics

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CiteExportLink to record
Permanent link

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Cite
Citation style
  • apa
  • ieee
  • modern-language-association-8th-edition
  • vancouver
  • Other style
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Language
  • de-DE
  • en-GB
  • en-US
  • fi-FI
  • nn-NO
  • nn-NB
  • sv-SE
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Output format
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