Object location based on sensor fusion of visual and tactual sensing

摘要

The paper describes a solution of object orientation findings based upon the sensor fusion problems between visual sensing and tactual sensing. We focus on the induction of the tactual images used for identifying the orientation of an object in a sensor fusion system made up on the geodesic dome. As an object is set up at the center of the geodesic dome, its image is taken by the camera positioned at the center of the facet on the geodesic dome. Also, robot fingers take tactual images on the finger behavior. If an object's image taken by the camera is identified with the image model of the facet on the geodesic dome, the position and orientation of the camera which takes its image are determined from the facet on the geodesic dome. As the tactual image corresponds to the image induced from the facet on the geodesic dome, the orientation of object is confirmed from the tactual image. Computer simulations show the effectiveness of the proposed method.