視覚・触覚センサの同位置配置によるビジュアルサーボと位置推定
Using Collocated Vision and Tactile Sensors for Visual Servoing and Localization
カメラと触覚センサを同位置に配置し、接触前の視覚情報と接触後の触覚情報を統合することで、物体の位置・姿勢推定とロボットのビジュアルサーボ精度を向上させる手法を提案した論文。
著者: Arkadeep Narayan Chaudhury, Timothy Man, Wenzhen Yuan, Christopher G. Atkeson
分類: cs.RO
原文アブストラクト
Coordinating proximity and tactile imaging by collocating cameras with tactile sensors can 1) provide useful information before contact such as object pose estimates and visually servo a robot to a target with reduced occlusion and higher resolution compared to head-mounted or external depth cameras, 2) simplify the contact point and pose estimation problems and help tactile sensing avoid erroneous matches when a surface does not have significant texture or has repetitive texture with many possible matches, and 3) use tactile imaging to further refine contact point and object pose estimation. We demonstrate our results with objects that have more surface texture than most objects in standard manipulation datasets. We learn that optic flow needs to be integrated over a substantial amount of camera travel to be useful in predicting movement direction. Most importantly, we also learn that state of the art vision algorithms do not do a good job localizing tactile images on object models, unless a reasonable prior can be provided from collocated cameras.
