Object identification with tactile sensors using bag-of-features

• Published in: 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems pp. 243 - 248
• Main Authors: Schneider, A., Sturm, J., Stachniss, C., Reisert, M., Burkhardt, H., Burgard, W.
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.10.2009
• Subjects: Fingers; Histograms; Intelligent robots; Robot sensing systems; Robustness; Sensor arrays; Service robots; Skin; Tactile sensors; Vocabulary

In this paper, we present a novel approach for identifying objects using touch sensors installed in the finger tips of a manipulation robot. Our approach operates on low-resolution intensity images that are obtained when the robot grasps an object. We apply a bag-of-words approach for object identif...