Enhancing Visual Perception of Shape through Tactile Glances
2013 (English)In: Intelligent Robots and Systems (IROS), 2013 IEEE/RSJ International Conference on, IEEE conference proceedings, 2013, 3180-3186 p.Conference paper (Refereed)
Object shape information is an important parameter in robot grasping tasks. However, it may be difficult to obtain accurate models of novel objects due to incomplete and noisy sensory measurements. In addition, object shape may change due to frequent interaction with the object (cereal boxes, etc). In this paper, we present a probabilistic approach for learning object models based on visual and tactile perception through physical interaction with an object. Our robot explores unknown objects by touching them strategically at parts that are uncertain in terms of shape. The robot starts by using only visual features to form an initial hypothesis about the object shape, then gradually adds tactile measurements to refine the object model. Our experiments involve ten objects of varying shapes and sizes in a real setup. The results show that our method is capable of choosing a small number of touches to construct object models similar to real object shapes and to determine similarities among acquired models.
Place, publisher, year, edition, pages
IEEE conference proceedings, 2013. 3180-3186 p.
, IEEE International Conference on Intelligent Robots and Systems, ISSN 2153-0858
Initial hypothesis, Learning object model, Physical interactions, Probabilistic approaches, Sensory measurement, Tactile perception, Unknown objects, Visual perception
Computer Vision and Robotics (Autonomous Systems)
IdentifiersURN: urn:nbn:se:kth:diva-133212DOI: 10.1109/IROS.2013.6696808ISI: 000331367403037ScopusID: 2-s2.0-84891043014ISBN: 978-1-4673-6358-7OAI: oai:DiVA.org:kth-133212DiVA: diva2:659977
2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013; Tokyo; Japan; 3 November 2013 through 8 November 2013
QC 201311042013-10-282013-10-282014-04-10Bibliographically approved