Evans, M.H., Pearson, M.J., Lepora, N.F. et al. (2 more authors) (2012) Whiskered texture classification with uncertain contact pose geometry. In: 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems, 07-12 Oct 2012, Vilamoura, Portugal. IEEE , pp. 7-13. ISBN 9781467317375
Abstract
Tactile sensing can be an important source of information for robots, and texture discrimination in particular is useful in object recognition and terrain identification. Whisker based tactile sensing has recently been shown to be a promising approach for mobile robots, using simple sensors and many classification approaches. However these approaches have often been tested in limited environments, and have not been compared against one another in a controlled way. A wide range of whisker-object contact poses are possible on a mobile robot, and the effect such contact variability has on sensing has not been properly investigated. We present a novel, carefully controlled study of simple surface texture classifiers on a large set of varied pose conditions that mimic those encountered by mobile robots. Namely, single brief whisker contacts with textured surfaces at a range of surface orientations and contact speeds. Results show that different classifiers are appropriate for different settings, with spectral template and feature based approaches performing best in surface texture, and contact speed estimation, respectively. The results may be used to inform selection of classifiers in tasks such as tactile SLAM.
Metadata
Item Type: | Proceedings Paper |
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Authors/Creators: |
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Copyright, Publisher and Additional Information: | © 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. Reproduced in accordance with the publisher's self-archiving policy. |
Dates: |
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Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Automatic Control and Systems Engineering (Sheffield) The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Computer Science (Sheffield) |
Funding Information: | Funder Grant number European Commission - FP6/FP7 BIOTACT - 215910; EFAA - 270490 |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 13 Jan 2020 14:44 |
Last Modified: | 15 Jan 2020 04:21 |
Status: | Published |
Publisher: | IEEE |
Refereed: | Yes |
Identification Number: | 10.1109/IROS.2012.6385634 |
Related URLs: | |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:155161 |