Shape and pose recovery from planar pushing
Shape and pose recovery from planar pushing
复制标题
平面推动的形状和姿势恢复
DOI：
--
复制
发表时间：
2015
期刊：
影响因子：
--
通讯作者：
Alberto Rodriguez
中科院分区：
文献类型：
--
作者：
Kuan;J. Leonard;Alberto Rodriguez
触觉探索是指使用物理交互来推断对象属性。在这项工作中，我们研究的可行性恢复的形状和姿态的可移动物体从观察一系列的接触。特别是，我们接近的问题，估计的形状和轨迹的平面物体躺在摩擦表面上，被推的摩擦探头。当探头与物体接触时，观察接触位置和接触法线。
Tactile exploration refers to the use of physical interaction to infer object properties. In this work, we study the feasibility of recovering the shape and pose of a movable object from observing a series of contacts. In particular, we approach the problem of estimating the shape and trajectory of a planar object lying on a frictional surface, and being pushed by a frictional probe. The probe, when in contact with the object, makes observations of the location of contact and the contact normal.