Publikation

Tactile sensors based object recognition and 6D pose estimation

Achint Aggarwal, Peter Kampmann

In: Proceedings of International Conference on Intelligent Robotics and Applications. International Conference on Intelligent Robotics and Applications (ICIRA-12) October 3 Montreal Québec Canada Seiten 406-418 ISBN 978-3-642-33502-0 Springer Berlin / Heidelberg 10/2012.

Abstrakt

For robots working in real world environments, especially in the underwater area, it is necessary to achieve robust recognition and 6D pose estimation of freely standing movable objects using tactile sensors. Until now this problem remains unsolved due to the limited capability of the available tactile sensors. However, in our research group we have developed a highly reliable tactile sensor system, with high spatial and force resolution [2]. Such a sensor system enables us to achieve robust recognition and 6D localization of static objects as well as freely standing movable objects in high noise conditions which can be expected underwater. In this paper we will present our approaches and simulation based results.

Projekte

Deutsches Forschungszentrum für Künstliche Intelligenz
German Research Center for Artificial Intelligence