Visuo-Haptic Sensor Fusion System with Active Sensing

人的手是一个很好的传感系统，它的传感器功能和执行器功能融合得很好。在人眼中，作为眼球运动的致动器的功能深刻地影响着作为传感器的功能。这种获取信息的主动运动对于实现不同感官之间的融合具有重要作用。主动传感是工程中获取信息的一种主动运动。另一方面，视觉信息和触觉信息为物体识别提供了不同性质的信息。结合视触觉信息处理或视运动信息处理的传感器信息处理系统，考虑两者之间的相互关系进行处理，可以实现灵活可靠的识别和动作。为实现视觉-触觉-运动融合系统在工程上的应用，设计了传感器融合的试验台系统，并从理论上和实验上明确了其信息处理功能。事实上，我们设计了一个完整的传感系统，包括视觉传感器和触觉传感器，并在制作元件及其基础实验的基础上做了一个物体识别实验。结果表明，主动传感在传感器融合系统中的重要性。在这些基础实验的基础上，我们提出了新的传感器融合识别算法和对整个系统进行评估的系统传感器融合理论。

A human hand is a good sensing system in which a function as a sensor and a function as an actuator are fused well. In human eyes a function as an actuator for moving eyes affects a function as a sensor deeply. Such active motion for obtaining information has an important role to realize fusion between different senses. Active sensing is such active motion for obtaining information in engineering.On the other hand, visual information and haptic information provide information with different property for object recognition. To do processing considering mutual relation between them, we can realize a flexible and reliable recognition and actions as a sensor information processing system with visuo-haptic information processing or visuo-motor information processing.In this research we make a testbed system for sensor fusion to realize such visuo-haptic-motor fused system in engineerign, and cleared its information processing function theoretically and experimentally. In fact we design a whole sensing system with vision sensor and haptic sensor, and we did an object recognition experiment based on making the elements and their fundamental experiments. As a result it is cleared that active sensing is important in sensor fusion system. Based on such basic experiments we developed new recognition algorithms for sensor fusion and systemized theory for sensor fusion by evaluating a whole system.