Object Recognition and Localization: The Role of Tactile Sensors
Identifieur interne : 000F86 ( Main/Merge ); précédent : 000F85; suivant : 000F87Object Recognition and Localization: The Role of Tactile Sensors
Auteurs : Achint Aggarwal ; Frank Kirchner [Allemagne]Source :
- Sensors (Basel, Switzerland) [ 1424-8220 ] ; 2014.
Abstract
Tactile sensors, because of their intrinsic insensitivity to lighting conditions and water turbidity, provide promising opportunities for augmenting the capabilities of vision sensors in applications involving object recognition and localization. This paper presents two approaches for haptic object recognition and localization for ground and underwater environments. The first approach called Batch Ransac and Iterative Closest Point augmented Particle Filter (BRICPPF) is based on an innovative combination of particle filters, Iterative-Closest-Point algorithm, and a feature-based Random Sampling and Consensus (RANSAC) algorithm for database matching. It can handle a large database of 3D-objects of complex shapes and performs a complete six-degree-of-freedom localization of static objects. The algorithms are validated by experimentation in ground and underwater environments using real hardware. To our knowledge this is the first instance of haptic object recognition and localization in underwater environments. The second approach is biologically inspired, and provides a close integration between exploration and recognition. An edge following exploration strategy is developed that receives feedback from the current state of recognition. A recognition by parts approach is developed which uses the BRICPPF for object sub-part recognition. Object exploration is either directed to explore a part until it is successfully recognized, or is directed towards new parts to endorse the current recognition belief. This approach is validated by simulation experiments.
Url:
DOI: 10.3390/s140203227
PubMed: 24553087
PubMed Central: 3958302
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<record><TEI><teiHeader><fileDesc><titleStmt><title xml:lang="en">Object Recognition and Localization: The Role of Tactile Sensors</title><author><name sortKey="Aggarwal, Achint" sort="Aggarwal, Achint" uniqKey="Aggarwal A" first="Achint" last="Aggarwal">Achint Aggarwal</name><affiliation><nlm:aff id="af1-sensors-14-03227"> DFKI GmbH, Robotics Innovation Center (RIC), Robert-Hooke-Str. 1, Bremen D-28359, Germany; E-Mail:<email>frank.kirchner@dfki.de</email></nlm:aff></affiliation></author><author><name sortKey="Kirchner, Frank" sort="Kirchner, Frank" uniqKey="Kirchner F" first="Frank" last="Kirchner">Frank Kirchner</name><affiliation><nlm:aff id="af1-sensors-14-03227"> DFKI GmbH, Robotics Innovation Center (RIC), Robert-Hooke-Str. 1, Bremen D-28359, Germany; E-Mail:<email>frank.kirchner@dfki.de</email></nlm:aff></affiliation><affiliation wicri:level="3"><nlm:aff id="af2-sensors-14-03227"> Robotics Group, Department of Mathematics and Computer Science, University of Bremen, Robert-Hooke-Str. 1, Bremen D-28359, Germany</nlm:aff><country xml:lang="fr">Allemagne</country><wicri:regionArea> Robotics Group, Department of Mathematics and Computer Science, University of Bremen, Robert-Hooke-Str. 1, Bremen D-28359</wicri:regionArea><placeName><region type="land" nuts="3">Brême (Land)</region><settlement type="city">Brême</settlement></placeName></affiliation></author></titleStmt><publicationStmt><idno type="wicri:source">PMC</idno><idno type="pmid">24553087</idno><idno type="pmc">3958302</idno><idno type="url">http://www.ncbi.nlm.nih.gov/pmc/articles/PMC3958302</idno><idno type="RBID">PMC:3958302</idno><idno type="doi">10.3390/s140203227</idno><date when="2014">2014</date><idno type="wicri:Area/Pmc/Corpus">002504</idno><idno type="wicri:Area/Pmc/Curation">002504</idno><idno type="wicri:Area/Pmc/Checkpoint">000A65</idno><idno type="wicri:source">PubMed</idno><idno type="wicri:Area/PubMed/Corpus">000740</idno><idno type="wicri:Area/PubMed/Curation">000740</idno><idno type="wicri:Area/PubMed/Checkpoint">000575</idno><idno type="wicri:Area/Ncbi/Merge">002D28</idno><idno type="wicri:Area/Ncbi/Curation">002D28</idno><idno type="wicri:Area/Ncbi/Checkpoint">002D28</idno><idno type="wicri:Area/Main/Merge">000F86</idno></publicationStmt><sourceDesc><biblStruct><analytic><title xml:lang="en" level="a" type="main">Object Recognition and Localization: The Role of Tactile Sensors</title><author><name sortKey="Aggarwal, Achint" sort="Aggarwal, Achint" uniqKey="Aggarwal A" first="Achint" last="Aggarwal">Achint Aggarwal</name><affiliation><nlm:aff id="af1-sensors-14-03227"> DFKI GmbH, Robotics Innovation Center (RIC), Robert-Hooke-Str. 1, Bremen D-28359, Germany; E-Mail:<email>frank.kirchner@dfki.de</email></nlm:aff></affiliation></author><author><name sortKey="Kirchner, Frank" sort="Kirchner, Frank" uniqKey="Kirchner F" first="Frank" last="Kirchner">Frank Kirchner</name><affiliation><nlm:aff id="af1-sensors-14-03227"> DFKI GmbH, Robotics Innovation Center (RIC), Robert-Hooke-Str. 1, Bremen D-28359, Germany; E-Mail:<email>frank.kirchner@dfki.de</email></nlm:aff></affiliation><affiliation wicri:level="3"><nlm:aff id="af2-sensors-14-03227"> Robotics Group, Department of Mathematics and Computer Science, University of Bremen, Robert-Hooke-Str. 1, Bremen D-28359, Germany</nlm:aff><country xml:lang="fr">Allemagne</country><wicri:regionArea> Robotics Group, Department of Mathematics and Computer Science, University of Bremen, Robert-Hooke-Str. 1, Bremen D-28359</wicri:regionArea><placeName><region type="land" nuts="3">Brême (Land)</region><settlement type="city">Brême</settlement></placeName></affiliation></author></analytic><series><title level="j">Sensors (Basel, Switzerland)</title><idno type="eISSN">1424-8220</idno><imprint><date when="2014">2014</date></imprint></series></biblStruct></sourceDesc></fileDesc><profileDesc><textClass></textClass></profileDesc></teiHeader><front><div type="abstract" xml:lang="en"><p>Tactile sensors, because of their intrinsic insensitivity to lighting conditions and water turbidity, provide promising opportunities for augmenting the capabilities of vision sensors in applications involving object recognition and localization. This paper presents two approaches for haptic object recognition and localization for ground and underwater environments. The first approach called Batch Ransac and Iterative Closest Point augmented Particle Filter (BRICPPF) is based on an innovative combination of particle filters, Iterative-Closest-Point algorithm, and a feature-based Random Sampling and Consensus (RANSAC) algorithm for database matching. It can handle a large database of 3D-objects of complex shapes and performs a complete six-degree-of-freedom localization of static objects. The algorithms are validated by experimentation in ground and underwater environments using real hardware. To our knowledge this is the first instance of haptic object recognition and localization in underwater environments. The second approach is biologically inspired, and provides a close integration between exploration and recognition. An edge following exploration strategy is developed that receives feedback from the current state of recognition. A recognition by parts approach is developed which uses the BRICPPF for object sub-part recognition. Object exploration is either directed to explore a part until it is successfully recognized, or is directed towards new parts to endorse the current recognition belief. This approach is validated by simulation experiments.</p></div></front><back><div1 type="bibliography"><listBibl><biblStruct><analytic><author><name sortKey="Kampmann, P" uniqKey="Kampmann P">P. Kampmann</name></author><author><name sortKey="Kirchner, F" uniqKey="Kirchner F">F. Kirchner</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Aggarwal, A" uniqKey="Aggarwal A">A. Aggarwal</name></author><author><name sortKey="Kampmann, P" uniqKey="Kampmann P">P. 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Hebert</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Tombari, F" uniqKey="Tombari F">F. Tombari</name></author><author><name sortKey="Salti, S" uniqKey="Salti S">S. Salti</name></author><author><name sortKey="Di Stefano, L" uniqKey="Di Stefano L">L. di Stefano</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Rusu, R B" uniqKey="Rusu R">R.B. Rusu</name></author><author><name sortKey="Marton, Z C" uniqKey="Marton Z">Z.C. Marton</name></author><author><name sortKey="Blodow, N" uniqKey="Blodow N">N. Blodow</name></author><author><name sortKey="Beetz, M" uniqKey="Beetz M">M. Beetz</name></author></analytic></biblStruct><biblStruct><analytic><author><name sortKey="Rusu, R B" uniqKey="Rusu R">R.B. Rusu</name></author><author><name sortKey="Cousins, S" uniqKey="Cousins S">S. Cousins</name></author></analytic></biblStruct></listBibl></div1></back></TEI></record>Pour manipuler ce document sous Unix (Dilib)
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