Robotic object recognition using vision and touch

by Peter K. Allen

[目次]

  • 1: Introduction.- 1.1 The promise of robotics.- 1.2 Improving robotic system performance.- 1.2.1 Active, exploratory sensing.- 1.2.2 Multiple sensors.- 1.2.3 Complex world models.- 1.2.4 Reasoning about the world.- 1.3 System description.- 1.4 Summary.- 2: Model Database.- 2.1 Object models for recognition.- 2.2 Criteria for a recognition model.- 2.3 A hierarchical model data base.- 2.3.1 Object level.- 2.3.2 Component/feature level.- 2.3.3 Surface level.- 2.3.4 Patch level.- 2.3.5 Relational constraints.- 2.4 Creating the models.- 2.5 Computing surface attributes.- 2.6 Classifying surfaces.- 2.7 Computing hole and cavity attributes.- 2.8 Example model.- 3: 2-D Vision.- 3.1 Introduction.- 3.2 Image acquisition.- 3.3 Thresholding.- 3.4 Edge detection.- 3.5 Segmentation.- 3.5.1 Filling in the gaps.- 3.5.2 Region growing.- 3.5.3 Region analysis.- 3.6 Summary.- 4: 3-D Vision.- 4.1 Introduction.- 4.2 Computational stereo.- 4.3 Image acquisition.- 4.4 Camera modeling.- 4.5 Camera calibration.- 4.6 Feature acquisition.- 4.7 Image matching.- 4.8 Depth determination.- 4.9 Interpolation.- 4.10 Summary.- 5: Tactile Sensing.- 5.1 Introduction.- 5.2 Capabilities of tactile sensors.- 5.3 Summary of tactile sensing.- 5.4 Experimental tactile sensor.- 5.5 Organization of tactile processing.- 5.6 Low level tactile processing.- 5.7 Intermediate level tactile processing.- 5.7.1 Exploring regions.- 5.7.2 Surface tracing.- 5.7.3 Hole/cavity tracing.- 5.8 Summary.- 6: Integrating Vision and Touch.- 6.1 Introduction.- 6.2 Composite bicubic surfaces.- 6.3 Building level 0 surfaces.- 6.3.1 Calculating tangent vectors.- 6.3.2 Calculating twist vectors.- 6.4 Building higher level surfaces.- 6.5 Building hole and cavity descriptions.- 6.6 Summary.- 7: Matching.- 7.1 Introduction.- 7.2 Design of the matcher.- 7.3 Model instantiation.- 7.3.1 Discrimination by size.- 7.3.2 Discrimination by gross shape.- 7.3.3 Feature attribute matching.- 7.3.4 Surface attribute matching.- 7.3.5 Classifying surfaces.- 7.3.6 Relational consistency.- 7.3.7 Ordering matches.- 7.4 Verification.- 7.4.1 Computing model-to-scene transformations.- 7.4.2 Matching feature frames.- 7.4.3 Matching surface frames.- 7.4.4 Verification sensing.- 7.5 Summary.- 8: Experimental Results.- 8.1 Introduction.- 8.2 Experiment 1.- 8.3 Experiment 2.- 8.4 Experiment 3.- 8.5 Experiment 4.- 8.6 Experiment 5.- 8.7 Experiment 6.- 8.8 Experiment 7.- 8.9 Summary.- 9: Conclusion.- 9.1 Introduction.- 9.2 Discovering 3-D structure.- 9.3 The multi-sensor approach.- 9.4 Limitations of the system.- 9.5 Future directions.- References.- Appendix: Bicubic Spline Surfaces.- 1. Introduction.- 2. Parametric curves and surfaces.- 3. Coons' patches.- 3.1 Linearly interpolated patches.- 3.2 Hermite interpolation.- 3.3 Curvature continuous patches.

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この本の情報

書名 Robotic object recognition using vision and touch
著作者等 Allen, Peter K.
シリーズ名 The Kluwer international series in engineering and computer science
出版元 Kluwer Academic
刊行年月 c1987
ページ数 viii, 172 p.
大きさ 24 cm
ISBN 0898382459
NCID BA0343744X
※クリックでCiNii Booksを表示
言語 英語
出版国 アメリカ合衆国
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