Pattern Recognition of a Grasped Object by Unit-Vector Distribution
Pattern Recognition of a Grasped Object by Unit-Vector Distribution
复制标题
基于单位向量分布的抓取物体的模式识别
DOI：
10.1109/tsmc.1982.4308821
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发表时间：
1982
期刊：
影响因子：
--
通讯作者：
M. Takata
中科院分区：
文献类型：
--
作者：
H. Ozaki;Shigeaki Waku;A. Mohri;M. Takata
讨论了一种利用人工手识别被抓物体的模式并确定其相对于手坐标的位置的模式识别方法。在本文提出的识别方法中，将目标识别为一堆二维切片，即一堆平面封闭曲线。每条曲线（即轮廓）被描述为单位向量的分布模式，称为单位向量分布（UVD）。本文提出的UVD函数识别方法如下：1)给定待抓取物体轮廓的先验信息，计算并记忆其轮廓的UVD。这些被称为原始模式（OP’s）。2)然后由真实的触觉数据形成一个采样的UVD，称为数据模式（DP）。3)将DP与记忆模式（MP’s）进行比较，MP’s是通过模糊对应的OP得到的，以便于挑选出最适合的OP。4)最后，利用挑选出的模式的UVD在手部坐标系中重新生成轮廓。利用实验传感器和模型手进行的实验表明，该方法对多种具有柱形和棱形轮廓的物体的识别是有效的。
A pattern recognition method using an artificial hand to identify the pattern of a grasped object and to locate its position relative to the hand coordinates is discussed. In the proposed recognition method, an object is recognized as a pile of two-dimensional slices, namely, a pile of plane closed curves. Each curve (i.e., contour) is described as the distribution pattern of unit-vectors, called the unit-vector distribution (UVD). The proposed recognition method using UVD functions is as follows. 1) Given the a priori information about the contours of objects to be grasped, the UVD's of their contours are calculated and memorized. These are called the original patterns (OP's). 2) Then a sampled UVD is formed from real tactile data and called the data pattern (DP). 3) The DP is compared with the memorized patterns (MP's), which are obtained by blurring the corresponding OP, so as to make it easier to single out the best fitted OP. 4) Finally, the contour is regenerated in the hand coordinate system by using the UVD of the singled out pattern. An experiment using a trial sensor and a model hand has shown the effectiveness of the proposed method in the recognition of several kinds of objects having cylindrical and prismatic contours.