Haptic object recognition using statistical point cloud features

摘要

This work presents a point cloud approach for haptic object recognition with an anthropomorphic robot hand. It introduces several statistical point cloud features to provide robust descriptions of objects. It addresses the domain specific problems of sparsely populated and distorted point clouds that result from the direct interaction with the object. Also the contact normals registered during exploration - a natural byproduct - are taken into account for computing some of these features.