Object exploration using vision and active touch

Chuanyu Yang, Nathan Lepora

Research output: Chapter in Book/Report/Conference proceedingConference Contribution (Conference Proceeding)

3 Citations (Scopus)
247 Downloads (Pure)

Abstract

Achieving object exploration with passive vision and active touch has been under investigation for thirty years. We build upon recent progress in biomimetic active touch that combines perception via Bayesian evidence accumulation with controlling the tactile sensor using perceived stimulus location. Here, passive vision is combined with active touch by providing a visual prior for each perceptual decision, with the precision of this prior setting the relative contribution of each modality. The performance is examined on an edge following task using a tactile fingertip (the TacTip) mounted on a robot arm. We find that the quality of exploration is a U-shaped function of the relative contribution of vision and touch; moreover, multi-modal performance is more robust, completing the contour when touch alone fails. The overall system has several parallels with biological theories of perception, and thus plausibly represents a robot model of visuo-tactile exploration in humans.
Original languageEnglish
Title of host publication2017 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)
Subtitle of host publicationProceedings of a meeting held 24-28 September 2017, Vancouver, British Columbia, Canada
PublisherInstitute of Electrical and Electronics Engineers (IEEE)
Pages6363-6386
Number of pages8
ISBN (Electronic)9781538626825
ISBN (Print)9781538626832
DOIs
Publication statusPublished - Feb 2018
EventIntelligent Robots and Systems - Vancouver, Canada
Duration: 25 Sep 2017 → …

Publication series

Name
ISSN (Print)2153-0866

Conference

ConferenceIntelligent Robots and Systems
Abbreviated titleIROS
CountryCanada
CityVancouver
Period25/09/17 → …

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