CAREER: Shape Localization, Recognition, and Reconstruction through Touch Sensing

提出的研究涉及部分定位，基于模型的识别和形状重建背景下的触摸传感计算原理；它涵盖了机器人的许多领域-触摸传感，部分定向和定位，形状识别，抓取，灵巧操作。提出的定位方案旨在通过接触确定具有已知几何形状的物体相对于（机器人）手的姿态。算法将用于处理触觉数据，计算几何不变量，并将它们注册到物体表面。该项目的教育部分包括开发跨学科课程，重点是机器人和几何计算。

The proposed research concerns computational principles of touch sensing in the context of part localization, model-based recognition, and shape reconstruction; it encompasses a number of areas of robotics - touch sensing, part orientation and localization, shape recognition, grasping, dextrous manipulation. The proposed localization scheme aims at determining the pose of an object with known geometry relative to the (robot) hand through contact. Algorithms will be developed for processing tactile data, computing geometric invariants, and registering them onto the object's surface. The education part of the project includes development of interdisciplinary courses with an emphasis on robotics and geometric computation.