Active sensing using proximity sensors for object recognition and localization

Abstract

In a recognition and localization process, active sensing techniques allow one to exploit the discriminant power of geometric features, although they are partially occluded to some sensors. The authors propose the use of proximity sensors on a robot hand and non-contact guarded and compliant motions to sense these features. To carry out recognition, the author compute geometric constraints by explicitly considering uncertainty in the acquired features.< <ETX xmlns:mml="http://www.w3.org/1998/Math/MathML" xmlns:xlink="http://www.w3.org/1999/xlink">&gt;</ETX>