تقرير
Active Multi-Object Exploration and Recognition via Tactile Whiskers
| العنوان: | Active Multi-Object Exploration and Recognition via Tactile Whiskers |
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| المؤلفون: | Xiao, Chenxi, Xu, Shujia, Wu, Wenzhuo, Wachs, Juan |
| سنة النشر: | 2021 |
| المجموعة: | Computer Science |
| مصطلحات موضوعية: | Computer Science - Robotics |
| الوصف: | Robotic exploration under uncertain environments is challenging when optical information is not available. In this paper, we propose an autonomous solution of exploring an unknown task space based on tactile sensing alone. We first designed a whisker sensor based on MEMS barometer devices. This sensor can acquire contact information by interacting with the environment non-intrusively. This sensor is accompanied by a planning technique to generate exploration trajectories by using mere tactile perception. This technique relies on a hybrid policy for tactile exploration, which includes a proactive informative path planner for object searching, and a reactive Hopf oscillator for contour tracing. Results indicate that the hybrid exploration policy can increase the efficiency of object discovery. Last, scene understanding was facilitated by segmenting objects and classification. A classifier was developed to recognize the object categories based on the geometric features collected by the whisker sensor. Such an approach demonstrates the whisker sensor, together with the tactile intelligence, can provide sufficiently discriminative features to distinguish objects. Comment: Copyright 20xx IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works |
| نوع الوثيقة: | Working Paper |
| DOI: | 10.1109/TRO.2022.3182487 |
| الوصول الحر: | http://arxiv.org/abs/2109.03976Test |
| رقم الانضمام: | edsarx.2109.03976 |
| قاعدة البيانات: | arXiv |
| DOI: | 10.1109/TRO.2022.3182487 |
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