Tactile array sensor for object identification using complex moments

In this paper, the usefulness of applying the complex moment, features for object identification using a tactile array sensor has been explored. Some complex moment invariants have been derived and implementation of those features has been conducted. With those moment invariants, we can eliminate the effect of lateral displacement and rotation from the tactile images. Through the generation of a decision tree and the utilization of the complex moment features, the shape of the objects from the tactile array sensor can easily be identified.