Feature detection with an image based compliant tactile sensor
Feature detection with an image based compliant tactile sensor
复制标题
使用基于图像的兼容触觉传感器进行特征检测
DOI：
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发表时间：
1999
期刊：
影响因子：
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通讯作者：
M. Kakikur
中科院分区：
文献类型：
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作者：
K. Nagata;M. Ooki;M. Kakikur
提出了两种基于图像的柔顺触觉传感器对接触物体的特征检测方法。基于图像的柔性触觉传感器的第一个版本由橡胶皮肤、两个小型CCD摄像机和一个光源组成。在橡胶蒙皮内侧绘制网格图案，利用立体视觉技术计算橡胶蒙皮的变形。基于第一个版本的特征检测实验结果，开发了第二个版本的基于图像的柔性触觉传感器。第二个版本包括一个橡胶皮肤，在其内侧有一个针阵列，一个小的CCD相机和光源。如果物体与橡胶蒙皮接触，蒙皮将根据物体形状和接触位置变形。皮肤上的引脚之间的间隔在具有大曲率的区域处变宽，从而导致皮肤的基部出现并且亮度图案改变。该传感器通过使用该亮度模式来提取接触对象的特征。
Presents feature detection of a contacting object with two types of image based compliant tactile sensor. The first version of the image based compliant tactile sensor consists of rubber skin, two small CCD cameras and a light source. A lattice pattern is drawn on the inner side of the rubber skin to calculate its deformation with a stereo vision technique. A second version of the image based compliant tactile sensor was developed based on the experimental results of feature detection with the first version. The second version consists of a rubber skin which has a pin array on its inner side, one small CCD camera and light source. If an object contacts with the rubber skin, the skin will be deformed according to the object shape and contact localization. The interval between the pins on the skin widens at an area which has a large curvature, causing the base of the skin to appear and brightness patterns to change. This sensor extracts features of the object in contact by using this brightness pattern.