Use of visual and tactile data for generation of 3-D object hypotheses

Boshra, M.; Zhang, H.

doi:10.1109/iros.1994.407407

Cited by 5 publications

(2 citation statements)

References 3 publications

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“…Use of tactile/haptic sensing to complement visual sensing is important in several robotic tasks, to overcome some of the fundamental limitations of static visual sensing, such as lack of depth information, limited environment perception, and sensitivity to occlusion (see [1,6,22]). The conclusions derived from the experimental results reported in this section are expected to hold in tasks involving other types of 2D and 3D data (such as those outlined in Section 1).…”

Section: Resultsmentioning

confidence: 99%

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A Constraint-Satisfaction Approach for 3-D Object Recognition by Integrating 2-D and 3-D Data

Boshra¹,

Zhang²

1999

Computer Vision and Image Understanding

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Section: Resultsmentioning

confidence: 99%

“…Examples of these sets are three 2D edges [7,9], a pair of 3D edges [30], and a 2D junction, along with a 3D surface patch [6]. The selected minimal scene-feature sets are aligned with corresponding model ones in order to generate a number of hypotheses about the identity of the scene object and its 3D pose.…”

Section: Approaches For Object Recognitionmentioning

confidence: 99%

A Constraint-Satisfaction Approach for 3-D Object Recognition by Integrating 2-D and 3-D Data

Boshra¹,

Zhang²

1999

Computer Vision and Image Understanding

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Control of contact via tactile sensing

Zhang

Chen

2000

IEEE Trans. Robot. Automat.

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A constraint-satisfaction approach for 3D vision/touch-based object recognition

Boshra

Zhang

Proceedings 1995 IEEE/RSJ International Conference on Intelligent Robots and Systems. Human Robot Interaction and Cooperative R

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W e present a technique for recognizing polyhedral objects by integrating visual and tactile data. T h e probl e m is formulated as a constraint-satisfaction problem (CSP) t o provide a unified framework f o r integrating dafferent types of sensory data. T o m a k e use of the scene perceptual structures early in the recognition process, we enforce local consistency of t h e CSP. T h e process of local-consistency enforcing (LCE) reduces the correspondence uncertainty between scene and model features, which can lead t o significant reductions in t h e computational load o n subsequent recognition mod-ules. LCE can also eliminate m a n y erroneous model objects efficiently, without explicitly generating or verifying a n y object/pose hypotheses.

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Use of visual and tactile data for generation of 3-D object hypotheses

Cited by 5 publications

References 3 publications

A Constraint-Satisfaction Approach for 3-D Object Recognition by Integrating 2-D and 3-D Data

A Constraint-Satisfaction Approach for 3-D Object Recognition by Integrating 2-D and 3-D Data

Control of contact via tactile sensing

A constraint-satisfaction approach for 3D vision/touch-based object recognition

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