Title :
Acquisition and Application of a Tactile Database
Author :
Schö, Matthias ; Ritter, Helge ; Heidemann, Gunther
Author_Institution :
Fac. of Technol., Bielefeld Univ.
Abstract :
We present a database of 2D pressure profile time series as a testbed for tactile object and surface recognition. The tactile database captures the surfaces of household and toy objects by moving a 2D pressure sensor mounted to an industrial robot arm around the objects using real-time trajectory calculation. Thus, it represents different "views" of the objects in a similar way as the well known Columbia Object Image Library (COIL) captures different views of an object by a camera. As a first application, objects in the database are classified using a neural network architecture.
Keywords :
image recognition; manipulators; neural nets; tactile sensors; time series; visual databases; 2D pressure profile time series; 2D pressure sensor; camera; image database; industrial robot arm; neural network architecture; pattern recognition; robot tactile systems; surface recognition; tactile database; tactile object; trajectory calculation; Cameras; Image databases; Libraries; Neural networks; Robot sensing systems; Robot vision systems; Service robots; Tactile sensors; Testing; Toy industry; Image databases; Neural Networks; Pattern Recognition; Robot tactile systems; Tactile systems (non-biological);
Conference_Titel :
Robotics and Automation, 2007 IEEE International Conference on
Conference_Location :
Roma
Print_ISBN :
1-4244-0601-3
Electronic_ISBN :
1050-4729
DOI :
10.1109/ROBOT.2007.363539
