Artificial Intelligence Laboratory, Massachusetts Institute of Technology, Cambridge, MA 02139; General Computers Company, Cambridge, MA 02139.
IEEE Trans Pattern Anal Mach Intell. 1984 Mar;6(3):257-66. doi: 10.1109/tpami.1984.4767518.
This paper discusses how data from multiple tactile sensors may be used to identify and locate one object, from among a set of known objects. We use only local information from sensors: 1) the position of contact points and 2) ranges of surface normals at the contact points. The recognition and localization process is structured as the development and pruning of a tree of consistent hypotheses about pairings between contact points and object surfaces. In this paper, we deal with polyhedral objects constrained to lie on a known plane, i.e., having three degrees of positioning freedom relative to the sensors. We illustrate the performance of the algorithm by simulation.
本文讨论了如何使用来自多个触觉传感器的数据来识别和定位一组已知物体中的一个物体。我们仅使用传感器的本地信息：1）接触点的位置和 2）接触点处表面法向量的范围。识别和定位过程被构建为一致假设的树的开发和修剪，这些假设涉及接触点和物体表面之间的配对。在本文中，我们处理的是被约束在已知平面上的多面体物体，即相对于传感器具有三个定位自由度。我们通过模拟来说明算法的性能。
