Edge identification of a small object through a low-resolution tactile sensor array

Abstract

Edge detection is always an interesting field for researchers in the area of artificial intelligence, including machine visions and robotics. In the context of tactile sensors, many studies have been conducted on edgeidentification algorithms. These investigations often use high-resolution tactile sensor arrays to track an edge of a large object. In this work, edge identification is examined in which a coarse-resolution tactile sensor, specif., a 2x2 array, is used to detect and track edges of a small object. To simplify the control, we control the sensor just in 2D and in just one direction at a time. We propose two methods to solve this problem: a scanning method, of which the principle of operation is similar to that of a scanner, and an edge-following method that can make the sensor follow the boundary of the object. The flowchart of each method will be presented in detail in this paper. Some simulations in MATLAB, including four shapes, viz., square, triangle, ellipse, and hexagon, have been executed to verify our proposal. A comparison and a critique of the two methods are also presented for improving the methods.

LBP-Based Edge Detection Method for Depth Images With Low Resolutions

“…So it's necessary to deal with low resolution images in some cases. Low resolution images are used in many practical applications such as target detection [18], [19], facial recognition [20], pose estimation [21], autonomous exploration [22], and edge detection [23]. However, acquiring useful edge information from low resolution depth images is relatively challenging and lacks extensive study.…”

Low-Resolution Tactile Image Recognition for Automated Robotic Assembly Using Kernel PCA-Based Feature Fusion and Multiple Kernel Learning-Based Support Vector Machine

“…In contrast, tactile sensing is less sensitive to these conditions. Therefore, tactile image-based object recognition has received increasing attention form researchers and engineers over the past decade [1][2][3][4][5][6][7].…”

“…Previous works mainly solve the problem where the size of object is larger/much larger than the tactile sensing array by way of edge tracking/following [1][2][3][4][5][6][7][8]. First, a system/robot guides the sensing array to move along the contour of an object.…”