Visuo-Haptic Sensor Fusion System with Active Sensing

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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.