This paper studies the recognition of low-degree polynomial curves based on minimal tac-tile data. Euclidean differential and semi-differential invariants have been derived for quadratic curves and special cubic curves that are found in applications. These invariants, independent of translation and rotation, are evaluated over the differential geometry at… (More)
Model-based recognition of an object typically involves matching dense 3D range data. The computational cost is directly affected by the amount of data of which a transformation needs to be found before carrying out the match against a model. This paper investigates recognition using " one-dimensional " data, more specifically, points sampled along three… (More)
This paper studies the recognition and localization of 2-D shapes bounded by low-degree polynomial curve segments based on minimal tactile data. We have derived differential in-variants for quadratic curves and two special classes of cubic curves. Such an invariant, independent of translation and rotation , is computed from the local geometry at any two… (More)
DEDICATION I would like to dedicate this thesis to my family and to my girlfriend Wenjun Li without whose support I would not have been able to complete this work. iii ACKNOWLEDGEMENTS I am extremely lucky that I have support, encouragement, and inspiration from many people , without whom this work would not have been possible. My greatest gratitude goes to… (More)
Ibrayev, Rinat, "Model-based recognition of curves and surfaces using tactile data" (2008). Retrospective Theses and Dissertations. Paper 15644.
Current status of reconfigurable assembly systems, " Int. Kinematic modelling of parallel kinematic machine Exechon, " Robot. Comput. Dynamic formulation and performance evaluation of the redundant parallel manipulator, " Robot. Comput.-Integr. Abstract—This paper presents a method for recognition of 3D objects with curved surfaces from linear tactile data.… (More)