Three dimensional object recognition using integrated robotic vision and tactile sensing

摘要

Summarizes current development of a robotic sensing system to enhance the perceptive intelligence of manipulators working in relatively structured environments. The system consists of vision and tactile sensors which would be used to identify objects within a workspace and to determine their absolute position and orientation. A visual object recognition strategy is discussed, and a technique for fusing robot kinematics and tactile image data is described.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>