Proceedings of the IEEK Conference (대한전자공학회:학술대회논문집)
- 1999.11a
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- Pages.448-451
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- 1999
Determination of an Optimal Contact Pose for Object Recognition Using a Robot Hand
로봇 손의 물체 인식을 위한 최적 접촉포즈 결정 알고리즘
Abstract
In this paper, we propose a new object representation method and matching algorithm for object recognition using a 3-fingered robot hand. Each finger tip can measure normal vector and shapes of a contacting surface. Object is represented by the inter-surface description table where the features of a surface are described in the diagonal and the relations between two surfaces are in the upper diagonal. Based on this table, a fast and the efficient matching algorithm has been proposed. This algorithm can be applied to natural quadric objects.
Keywords