Abstract
In this work it is shown the representation of 3D object shape acquired from grasp exploration. Electromagnetic motion tracking sensors are used on the fingers for object contour following to acquire the 3D points to represent its shape using a probabilistic volumetric map. It is used the object referential for its representation. For that, it is found the center of mass of the 3D object through the moments to define its referential. The occupancy of each individual voxel in the map is assumed to be independent from the other voxels occupancy. The posteriori achieved from Bayes’ rule is the probability distribution on the occupations percentage for each voxel. The probabilistic map in a Cartesian system is converted to the spherical coordinate system for visualization with more details on its surface.
Chapter PDF
References
Klatzky, R.L., Lederman, S.: Intelligent exploration by the human hand. In: Dextrous robot hands, pp. 66–81. Springer, New York (1990)
Allen, P.K., Roberts, K.S.: Haptic object recognition using a multi-fingered dextrous hand. In: IEEE International Conference on Robotics and Automation, pp. 342–347 (1989)
Bierbaum, A., Welke, K., Burger, D., Asfour, T., Dillmann, R.: Haptic Exploration for 3D Shape Reconstruction using Five-Finger Hands. In: IEEE/RAS International Conference on Humanoid Robots (2007)
Bierbaum, A., Gubarev, I., Dillmann, R.: Robust shape recovery for sparse contact location and normal data from haptic exploration. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3200–3205 (2008)
Faria, D.R., Prado, J.A.S., Drews Junior, P., Dias, J.: Object shape retrieval through grasp exploration. In: ECMR-European Conference on Mobile Robots (2009)
Moravec, H.: Sensor fusion in certainty grids for mobile robots. AI Mag. 9, 61–74 (1988)
Elfes, A.: Using occupancy grids for mobile robot perception and navigation. Computer 22, 46–57 (1989)
Thrun, S.: Robotic mapping: a survey. In: Exploring artificial intelligence in the new millennium, pp. 1–35. Morgan Kaufmann Publishers Inc., San Francisco (2003)
Ferreira, J.F., Pinho, C., Dias, J.: Active exploration using bayesian models for multimodal perception. In: Campilho, A., Kamel, M.S. (eds.) ICIAR 2008. LNCS, vol. 5112, pp. 369–378. Springer, Heidelberg (2008)
Polhemus Liberty Electromagnetic Motion Tracking System, http://www.polhemus.com
Author information
Authors and Affiliations
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2010 IFIP International Federation for Information Processing
About this paper
Cite this paper
Faria, D.R., Martins, R., Dias, J. (2010). Grasp Exploration for 3D Object Shape Representation Using Probabilistic Map. In: Camarinha-Matos, L.M., Pereira, P., Ribeiro, L. (eds) Emerging Trends in Technological Innovation. DoCEIS 2010. IFIP Advances in Information and Communication Technology, vol 314. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-11628-5_23
Download citation
DOI: https://doi.org/10.1007/978-3-642-11628-5_23
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-642-11627-8
Online ISBN: 978-3-642-11628-5
eBook Packages: Computer ScienceComputer Science (R0)