An enhanced edge tracking method using a low resolution tactile sensor
| Autor: | Yong Seok Ihn, Hyouk Ryeol Choi, Tri Cong Phung, Ja Choon Koo |
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| Rok vydání: | 2010 |
| Předmět: |
business.industry
Computer science Cognitive neuroscience of visual object recognition Process (computing) Robotics Tracking (particle physics) Manufacturing cost Edge detection Computer Science Applications Set (abstract data type) Control and Systems Engineering Computer vision Artificial intelligence business Tactile sensor |
| Zdroj: | International Journal of Control, Automation and Systems. 8:462-467 |
| ISSN: | 2005-4092 1598-6446 |
| DOI: | 10.1007/s12555-010-0235-3 |
| Popis: | Edge detection plays an important role in object recognition and exploration. In this paper, we propose an efficient tracking algorithm, which uses a coarse resolution tactile sensor set, for edge detection of a 2D shape object. Although many researchers have often used a tactile sensor with high resolution such as a 10×10 or higher for edge detection, in this research, we use a 2×2 tactile sensor to track the edges of an object. Using this type of low resolution sensor, we can reduce the manufacturing cost of the sensor and simplify the calculation and control process. In our algorithm, we only need to control the sensor to make it move along the vertical axis, Oy, or the horizontal axis, Ox. The sensor is moved along a suitable direction according to the sensing signals receiving from it. A set of simulations for both convex and concave shapes has been done to verify the algorithm. In addition, methods to increase the accuracy of the algorithm are also discussed. |
| Databáze: | OpenAIRE |
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