Global Localization of Objects via Touch

  title={Global Localization of Objects via Touch},
  author={Anna Petrovskaya and Oussama Khatib},
  journal={IEEE Transactions on Robotics},
Humans are capable of manipulating objects based solely on the sense of touch. For robots to achieve the same feat in unstructured environments, global localization of objects via touch is required. Bayesian approaches provide the means to cope with uncertainties of the real world, but the estimation of the Bayesian posterior for the full six degrees of freedom (6-DOF) global localization problem is computationally prohibitive. We propose an efficient Bayesian approach termed Scaling Series. It… CONTINUE READING
Highly Cited
This paper has 119 citations. REVIEW CITATIONS


Publications citing this paper.
Showing 1-10 of 71 extracted citations

Grasping objects localized from uncertain point cloud data

Robotics and Autonomous Systems • 2014
View 7 Excerpts
Highly Influenced

Likelihood-Field-Model-Based Dynamic Vehicle Detection and Tracking for Self-Driving

IEEE Transactions on Intelligent Transportation Systems • 2016
View 3 Excerpts
Highly Influenced

119 Citations

Citations per Year
Semantic Scholar estimates that this publication has 119 citations based on the available data.

See our FAQ for additional information.


Publications referenced by this paper.
Showing 1-10 of 58 references

Task-Driven Tactile Exploration

Robotics: Science and Systems • 2010
View 13 Excerpts
Highly Influenced

A measurement model for tracking hand-object state during dexterous manipulation

2010 IEEE International Conference on Robotics and Automation • 2010
View 4 Excerpts
Highly Influenced

Robotic Perception via Contact

A. Petrovskaya people/petrovsk/tactile.html, • 2011
View 2 Excerpts

A unified localization approach for machining allowance optimization of complex curved surfaces

Y. Sun, J. Xu, D. Guo, Z. Jia
Precision Engineering, vol. 33, no. 4, pp. 516–523, 2009. • 2009
View 1 Excerpt

Optimal Design of Measurement Point Layout for Workpiece Localization

L. Zhu, H. Luo, H. Ding
Journal of Manufacturing Science and Engineering, vol. 131, p. 011006, 2009. • 2009
View 1 Excerpt

Similar Papers

Loading similar papers…