Haptic Object Exploration Using Attention Cubes

This paper presents a new approach to generate a strategy for haptic object exploration. Each voxel of the exploration area is assigned to an attention value which depends on the surrounding structure, the distance to the hand, the distance to already visited points and the focus of the exploration....

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Bibliographic Details
Published inKI 2010: Advances in Artificial Intelligence pp. 349 - 357
Main Authors Gorges, Nicolas, Fritz, Peter, Wörn, Heinz
Format Book Chapter
LanguageEnglish
Published Berlin, Heidelberg Springer Berlin Heidelberg
SeriesLecture Notes in Computer Science
Subjects
Haptic exploration
object recognition
simulation
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Summary:This paper presents a new approach to generate a strategy for haptic object exploration. Each voxel of the exploration area is assigned to an attention value which depends on the surrounding structure, the distance to the hand, the distance to already visited points and the focus of the exploration. The voxel with the highest attention value is taken as the next point of interest. This exploration loop results in a point cloud which is classified using an Iterative-Closest-Point algorithm. The approach is evaluated in a simulation environment which includes in particular a simulation of tactile sensors.
ISBN:9783642161100
3642161103
ISSN:0302-9743
1611-3349
DOI:10.1007/978-3-642-16111-7_40