Localizing a polyhedral object in a robot hand by integrating visual and tactile data

We present a novel technique for localizing a polyhedral object in a robot hand by integrating visual and tactile data. Localization is performed by matching a hybrid set of visual and tactile features with corresponding model features. The matching process "rst determines a subset of the object's six degrees of freedom (DOFs) using the tactile feature. The… CONTINUE READING