cient Exploration and Recognition of Convex ObjectsBased on Haptic Perception
نویسندگان
چکیده
The paper describes an eecient technique for recognition of convex objects from tactile sensing. The technique is based on the development of internal and external volumetric approximations of the unknown object , and exploits an eeective feature selection strategy along with early pruning of incompatible objects to improve recognition performance. Exploration strategies conceived for a single-nger probing device rely on the developed volumetric approximations to guide sensing along directions where uncertainty about the explored object is larger, and can take into account exploration costs.
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