Efficient exploration and recognition of convex objects based on haptic perception
The paper describes an efficient technique for recognition of convex objects from tactile sensing. The technique is based on the development of internal and external volumetric approximations of the unknown object, and exploits an effective feature selection strategy along with early pruning of inco...
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| container_end_page | 3513 vol.4 |
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| creator | Caselli, S. Magnanini, C. Zanichelli, F. Caraffi, E. |
| description | The paper describes an efficient technique for recognition of convex objects from tactile sensing. The technique is based on the development of internal and external volumetric approximations of the unknown object, and exploits an effective feature selection strategy along with early pruning of incompatible objects to improve recognition performance. Exploration strategies conceived for a single-finger probing device rely on the developed volumetric approximations to guide sensing along directions where uncertainty about the explored object is larger, and can take into account exploration costs. |
| doi_str_mv | 10.1109/ROBOT.1996.509247 |
| format | Conference Proceeding |
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The technique is based on the development of internal and external volumetric approximations of the unknown object, and exploits an effective feature selection strategy along with early pruning of incompatible objects to improve recognition performance. Exploration strategies conceived for a single-finger probing device rely on the developed volumetric approximations to guide sensing along directions where uncertainty about the explored object is larger, and can take into account exploration costs.</description><subject>Costs</subject><subject>Fingers</subject><subject>Force sensors</subject><subject>Haptic interfaces</subject><subject>Laboratories</subject><subject>Robot sensing systems</subject><subject>Sensor arrays</subject><subject>Tactile sensors</subject><subject>Torque</subject><subject>Uncertainty</subject><issn>1050-4729</issn><issn>2577-087X</issn><isbn>0780329880</isbn><isbn>9780780329881</isbn><fulltext>true</fulltext><rsrctype>conference_proceeding</rsrctype><creationdate>1996</creationdate><recordtype>conference_proceeding</recordtype><sourceid>6IE</sourceid><sourceid>RIE</sourceid><recordid>eNotkNtKAzEYhIMHsK0-gF7lBXb9c04utbQqFBZKBe9KNvmjKXV32V2kvr3VejUM8zEMQ8gtg5IxcPfr6rHalMw5XSpwXJozMuHKmAKseTsnUzAWBHfWwgWZMFBQSMPdFZkOww4AhNB6QtaLlHLI2IwUD92-7f2Y24b6JtIeQ_ve5D_fJhra5gsPtK13GMaB1n7ASI_Rh-_GHGiHfcDuF74ml8nvB7z51xl5XS428-diVT29zB9WRebCjoWrJVdKWhckKOPqGLXAEAUcV-rIEreBGxaDl2hS1I4rdCyIpBNDbmsUM3J36s2IuO36_On77-3pCvEDF01SMQ</recordid><startdate>1996</startdate><enddate>1996</enddate><creator>Caselli, S.</creator><creator>Magnanini, C.</creator><creator>Zanichelli, F.</creator><creator>Caraffi, E.</creator><general>IEEE</general><scope>6IE</scope><scope>6IL</scope><scope>CBEJK</scope><scope>RIE</scope><scope>RIL</scope></search><sort><creationdate>1996</creationdate><title>Efficient exploration and recognition of convex objects based on haptic perception</title><author>Caselli, S. ; Magnanini, C. ; Zanichelli, F. ; Caraffi, E.</author></sort><facets><frbrtype>5</frbrtype><frbrgroupid>cdi_FETCH-LOGICAL-i238t-9b4255489c40579bdd63ecd304726d1f28c271dca4e7fd6925e91c3f6f1e28be3</frbrgroupid><rsrctype>conference_proceedings</rsrctype><prefilter>conference_proceedings</prefilter><language>eng</language><creationdate>1996</creationdate><topic>Costs</topic><topic>Fingers</topic><topic>Force sensors</topic><topic>Haptic interfaces</topic><topic>Laboratories</topic><topic>Robot sensing systems</topic><topic>Sensor arrays</topic><topic>Tactile sensors</topic><topic>Torque</topic><topic>Uncertainty</topic><toplevel>online_resources</toplevel><creatorcontrib>Caselli, S.</creatorcontrib><creatorcontrib>Magnanini, C.</creatorcontrib><creatorcontrib>Zanichelli, F.</creatorcontrib><creatorcontrib>Caraffi, E.</creatorcontrib><collection>IEEE Electronic Library (IEL) Conference Proceedings</collection><collection>IEEE Proceedings Order Plan All Online (POP All Online) 1998-present by volume</collection><collection>IEEE Xplore All Conference Proceedings</collection><collection>IEEE Electronic Library (IEL)</collection><collection>IEEE Proceedings Order Plans (POP All) 1998-Present</collection></facets><delivery><delcategory>Remote Search Resource</delcategory><fulltext>fulltext_linktorsrc</fulltext></delivery><addata><au>Caselli, S.</au><au>Magnanini, C.</au><au>Zanichelli, F.</au><au>Caraffi, E.</au><format>book</format><genre>proceeding</genre><ristype>CONF</ristype><atitle>Efficient exploration and recognition of convex objects based on haptic perception</atitle><btitle>Proceedings of IEEE International Conference on Robotics and Automation</btitle><stitle>ROBOT</stitle><date>1996</date><risdate>1996</risdate><volume>4</volume><spage>3508</spage><epage>3513 vol.4</epage><pages>3508-3513 vol.4</pages><issn>1050-4729</issn><eissn>2577-087X</eissn><isbn>0780329880</isbn><isbn>9780780329881</isbn><abstract>The paper describes an efficient technique for recognition of convex objects from tactile sensing. The technique is based on the development of internal and external volumetric approximations of the unknown object, and exploits an effective feature selection strategy along with early pruning of incompatible objects to improve recognition performance. Exploration strategies conceived for a single-finger probing device rely on the developed volumetric approximations to guide sensing along directions where uncertainty about the explored object is larger, and can take into account exploration costs.</abstract><pub>IEEE</pub><doi>10.1109/ROBOT.1996.509247</doi></addata></record> |
| fulltext | fulltext_linktorsrc |
| identifier | ISSN: 1050-4729 |
| ispartof | Proceedings of IEEE International Conference on Robotics and Automation, 1996, Vol.4, p.3508-3513 vol.4 |
| issn | 1050-4729 2577-087X |
| language | eng |
| recordid | cdi_ieee_primary_509247 |
| source | IEEE Electronic Library (IEL) Conference Proceedings |
| subjects | Costs Fingers Force sensors Haptic interfaces Laboratories Robot sensing systems Sensor arrays Tactile sensors Torque Uncertainty |
| title | Efficient exploration and recognition of convex objects based on haptic perception |
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