Haptic object recognition using statistical point cloud features

This work presents a point cloud approach for haptic object recognition with an anthropomorphic robot hand. It introduces several statistical point cloud features to provide robust descriptions of objects. It addresses the domain specific problems of sparsely populated and distorted point clouds tha...

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Bibliographic Details
Published in2011 15th International Conference on Advanced Robotics (ICAR) pp. 15 - 20
Main Authors Gorges, N., Navarro, S. E., Worn, H.
Format Conference Proceeding
LanguageEnglish
Published IEEE 01.06.2011
Subjects
Haptic interfaces
Histograms
Shape
Tactile sensors
Vectors
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Summary:This work presents a point cloud approach for haptic object recognition with an anthropomorphic robot hand. It introduces several statistical point cloud features to provide robust descriptions of objects. It addresses the domain specific problems of sparsely populated and distorted point clouds that result from the direct interaction with the object. Also the contact normals registered during exploration - a natural byproduct - are taken into account for computing some of these features.
ISBN:1457711583
9781457711589
DOI:10.1109/ICAR.2011.6088637