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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Published in | KI 2010: Advances in Artificial Intelligence pp. 349 - 357 |
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Main Authors | , , |
Format | Book Chapter |
Language | English |
Published |
Berlin, Heidelberg
Springer Berlin Heidelberg
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Series | Lecture Notes in Computer Science |
Subjects | |
Online Access | Get full text |
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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. |
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ISBN: | 9783642161100 3642161103 |
ISSN: | 0302-9743 1611-3349 |
DOI: | 10.1007/978-3-642-16111-7_40 |