Shape Recognition Through Tactile Contour Tracing

Krause AF, Harischandra N, Dürr V (2015)
In: Transactions on Computational Collective Intelligence XX. Springer: 54-77.

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Abstract
We present Contour-net, a bio-inspired model for tactile contour-tracing driven by an Hopf oscillator. By controlling the rhythmic movements of a simulated insect-like feeler, the model executes both wide searching and local sampling movements. Contour-tracing is achieved by means of contact-induced phase-forwarding of the oscillator. To classify the shape of an object, collected contact events can be directly fed into machine learning algorithms with minimal pre-processing (scaling). Three types of classifiers were evaluated, the best one being a Support Vector Machine. The likelihood of correct classification steadily increases with the number of collected contacts, enabling an incremental classification during sampling. Given a sufficiently large training data set, tactile shape recognition can be achieved in a position-, orientation- and size-invariant manner. The suitability for robotic applications is discussed.
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Krause AF, Harischandra N, Dürr V. Shape Recognition Through Tactile Contour Tracing. In: Transactions on Computational Collective Intelligence XX. Springer; 2015: 54-77.
Krause, A. F., Harischandra, N., & Dürr, V. (2015). Shape Recognition Through Tactile Contour Tracing. Transactions on Computational Collective Intelligence XX, 54-77.
Krause, A. F., Harischandra, N., and Dürr, V. (2015). “Shape Recognition Through Tactile Contour Tracing” in Transactions on Computational Collective Intelligence XX (Springer), 54-77.
Krause, A.F., Harischandra, N., & Dürr, V., 2015. Shape Recognition Through Tactile Contour Tracing. In Transactions on Computational Collective Intelligence XX. Springer, pp. 54-77.
A.F. Krause, N. Harischandra, and V. Dürr, “Shape Recognition Through Tactile Contour Tracing”, Transactions on Computational Collective Intelligence XX, Springer, 2015, pp.54-77.
Krause, A.F., Harischandra, N., Dürr, V.: Shape Recognition Through Tactile Contour Tracing. Transactions on Computational Collective Intelligence XX. p. 54-77. Springer (2015).
Krause, André Frank, Harischandra, Nalin, and Dürr, Volker. “Shape Recognition Through Tactile Contour Tracing”. Transactions on Computational Collective Intelligence XX. Springer, 2015. 54-77.
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