Global Localization of Objects via Touch

@article{Petrovskaya2011GlobalLO,
  title={Global Localization of Objects via Touch},
  author={Anna Petrovskaya and Oussama Khatib},
  journal={IEEE Transactions on Robotics},
  year={2011},
  volume={27},
  pages={569-585}
}
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
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