高解像度触覚インプリントによる触覚マッピングと位置推定
Tactile Mapping and Localization from High-Resolution Tactile Imprints
視覚型触覚センサGelSlimを用いて接触から物体形状を再構成し、事前に再構成した物体の位置を高精度に推定する手法を提案した。
著者: Maria Bauza, Oleguer Canal, Alberto Rodriguez
分類: cs.RO, cs.LG
原文アブストラクト
This work studies the problem of shape reconstruction and object localization using a vision-based tactile sensor, GelSlim. The main contributions are the recovery of local shapes from contact, an approach to reconstruct the tactile shape of objects from tactile imprints, and an accurate method for object localization of previously reconstructed objects. The algorithms can be applied to a large variety of 3D objects and provide accurate tactile feedback for in-hand manipulation. Results show that by exploiting the dense tactile information we can reconstruct the shape of objects with high accuracy and do on-line object identification and localization, opening the door to reactive manipulation guided by tactile sensing. We provide videos and supplemental information in the project's website http://web.mit.edu/mcube/research/tactile_localization.html.
