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首页> 外文会议>10th Annual Conference of Mechatronics and Machine Vision in Practice (M~2VIP 2003); Dec 9-11, 2003; Australia >Orientation Detection and Shape Discrimination of an Object on a Flat Surface Using the Distributive Tactile Sensing Technique
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Orientation Detection and Shape Discrimination of an Object on a Flat Surface Using the Distributive Tactile Sensing Technique

机译：分布式触觉技术在平面上对物体进行方向检测和形状识别

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摘要

The development of distributive tactile sensors has shown potential to enhance certain tasks often performed by a vision system, such as the determination of an object shape at a lower operational cost. As opposed to a point-to-point or discrete sensing approach, a distributive technique can be employed in a tactile system and offers the potential to reduce the number of sensing elements. The technique relies on detection of changes in the surface properties that can be seen across the surface rather than at the point of contact. The changes due to a particular object are unique and vary between each object's shape and position. In this paper we present a tactile system configured as a flat two-dimensional distributive system that can detect changes in the slate of contact. We have chosen to study the performance of the system to determine the orientation of a rectangular object and to discriminate objects of complex shapes. It was found that the system was able to determine the orientation of the rectangular object to the precision within 3.4% of the angle of orientation. The success rate of the system to discriminate shapes was approximately 93.8 % of the data presented for samples placed at random positions and orientations on the surface.
机译：分布式触觉传感器的发展已显示出增强某些通常由视觉系统执行的任务的潜力，例如以较低的操作成本确定物体的形状。与点对点或离散感测方法相反，可在触觉系统中采用分布式技术，并提供了减少感测元件数量的潜力。该技术依赖于检测可在整个表面而不是在接触点看到的表面特性变化。由于特定对象而引起的变化是唯一的，并且在每个对象的形状和位置之间都会变化。在本文中，我们介绍了一种触觉系统，该系统配置为可检测接触状态变化的平面二维分布系统。我们选择研究系统的性能以确定矩形对象的方向并区分复杂形状的对象。发现该系统能够确定矩形物体的定向，精确度在定向角的3.4％以内。系统辨别形状的成功率约为放置在表面上随机位置和方向的样品的数据的93.8％。

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