Object apprehension using vision and touch

Abstract

Researchers define object apprehension as the determination of the properties of an object and the relationships among these properties. They contrast this with recognition, which goes a step further to attach a label to the object as a whole. Apprehension is fundamental to manipulation. This is true whether the manipulation is being carried out by an autonomous robot or is the result of teleoperation involving sensory feedback. Researchers present an apprehension paradigm using both vision and touch. In this model, they define a representation for object apprehension in terms of a set of primitives and features, along with their relationships. This representation is the mechanism by which the data from the two modalities are combined. It is also the mechanism which drives the apprehension process.