Active Multiobject Exploration and Recognition via Tactile Whiskers
Active Multiobject Exploration and Recognition via Tactile Whiskers
复制标题
通过触觉胡须进行主动多对象探索和识别
DOI：
10.1109/tro.2022.3182487
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发表时间：
2021
影响因子：
7.8
通讯作者：
J. Wachs
中科院分区：
文献类型：
--
作者：
Chenxi Xiao;Shujia Xu;Wenzhuo Wu;J. Wachs
当光学信息不可用时，在不确定环境下的机器人探测是具有挑战性的。在本文中，我们提出了一种仅基于触觉感知的自主探索未知任务空间的解决方案。我们首先设计了一种基于MEMS气压计的晶须传感器。这种传感器可以通过非侵入性地与环境交互来获取联系信息。这种传感器伴随着一种规划技术，通过仅仅使用触觉感知来生成探测轨迹。这项技术依赖于用于触觉探索的混合策略，其中包括用于对象搜索的主动式信息路径规划器，以及用于轮廓跟踪的反应式Hopf振荡器。结果表明，混合探测策略可以提高目标发现的效率。最后，通过对目标的分割和分类来促进场景的理解。开发了一种基于胡须传感器采集的几何特征识别物体类别的分类器。这种方法表明，胡须传感器与触觉智能相结合，可以提供足够的区分特征来区分对象。
Robotic exploration under uncertain environments is challenging when optical information is not available. In this article, we propose an autonomous solution of exploring an unknown task space based on tactile sensing alone. We first designed a whisker sensor based on MEMS barometer devices. This sensor can acquire contact information by interacting with the environment nonintrusively. This sensor is accompanied by a planning technique to generate exploration trajectories by using mere tactile perception. This technique relies on a hybrid policy for tactile exploration, which includes a proactive informative path planner for object searching, and a reactive Hopf oscillator for contour tracing. Results indicate that the hybrid exploration policy can increase the efficiency of object discovery. Last, scene understanding was facilitated by segmenting objects and classification. A classifier was developed to recognize the object categories based on the geometric features collected by the whisker sensor. Such an approach demonstrates the whisker sensor, together with the tactile intelligence, can provide sufficiently discriminative features to distinguish objects.
DOI：
10.1109/wacv48630.2021.00087
发表时间：
2020-02
期刊：
2021 IEEE Winter Conference on Applications of Computer Vision (WACV)
影响因子：
--
作者：
Chenxi Xiao;J. Wachs
通讯作者：
Chenxi Xiao;J. Wachs
影响因子：
5.2
作者：
Abraham I;Prabhakar A;Hartmann MJZ;Murphey TD
通讯作者：
Murphey TD
影响因子：
1.5
作者：
Ottenhaus, Simon;Kaul, Lukas;Asfour, Tamim
通讯作者：
Asfour, Tamim