Shape Recognition Through Tactile Contour Tracing

Krause AF, Harischandra N, Dürr V (2015)
In: Transactions on Computational Collective Intelligence XX. Nguyen NT, Kowalczyk R, Duval B, van den Herik J, Loiseau S, Filipe J (Eds); Lecture Notes in Computer Science, 9420. Cham: Springer: 54-77.

Sammelwerksbeitrag | Englisch
 
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Herausgeber*in
Nguyen, Ngoc Thanh; Kowalczyk, Ryszard; Duval, Béatrice; van den Herik, Jaap; Loiseau, Stephane; Filipe, Joaquim
Abstract / Bemerkung
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.
Stichworte
Tactile sensor; Contour-tracing; Shape recognition; Artificial neural; network
Erscheinungsjahr
2015
Buchtitel
Transactions on Computational Collective Intelligence XX
Band
9420
Seite(n)
54-77
ISBN
9783319275420
ISSN
0302-9743
Page URI
https://pub.uni-bielefeld.de/record/2900551

Zitieren

Krause AF, Harischandra N, Dürr V. Shape Recognition Through Tactile Contour Tracing. In: Nguyen NT, Kowalczyk R, Duval B, van den Herik J, Loiseau S, Filipe J, eds. Transactions on Computational Collective Intelligence XX. Lecture Notes in Computer Science. Vol 9420. Cham: Springer; 2015: 54-77.
Krause, A. F., Harischandra, N., & Dürr, V. (2015). Shape Recognition Through Tactile Contour Tracing. In N. T. Nguyen, R. Kowalczyk, B. Duval, J. van den Herik, S. Loiseau, & J. Filipe (Eds.), Lecture Notes in Computer Science: Vol. 9420. Transactions on Computational Collective Intelligence XX (pp. 54-77). Cham: Springer. doi:10.1007/978-3-319-27543-7_3
Krause, A. F., Harischandra, N., and Dürr, V. (2015). “Shape Recognition Through Tactile Contour Tracing” in Transactions on Computational Collective Intelligence XX, Nguyen, N. T., Kowalczyk, R., Duval, B., van den Herik, J., Loiseau, S., and Filipe, J. eds. Lecture Notes in Computer Science, vol. 9420, (Cham: Springer), 54-77.
Krause, A.F., Harischandra, N., & Dürr, V., 2015. Shape Recognition Through Tactile Contour Tracing. In N. T. Nguyen, et al., eds. Transactions on Computational Collective Intelligence XX. Lecture Notes in Computer Science. no.9420 Cham: Springer, pp. 54-77.
A.F. Krause, N. Harischandra, and V. Dürr, “Shape Recognition Through Tactile Contour Tracing”, Transactions on Computational Collective Intelligence XX, N.T. Nguyen, et al., eds., Lecture Notes in Computer Science, vol. 9420, Cham: Springer, 2015, pp.54-77.
Krause, A.F., Harischandra, N., Dürr, V.: Shape Recognition Through Tactile Contour Tracing. In: Nguyen, N.T., Kowalczyk, R., Duval, B., van den Herik, J., Loiseau, S., and Filipe, J. (eds.) Transactions on Computational Collective Intelligence XX. Lecture Notes in Computer Science. 9420, p. 54-77. Springer, Cham (2015).
Krause, André Frank, Harischandra, Nalin, and Dürr, Volker. “Shape Recognition Through Tactile Contour Tracing”. Transactions on Computational Collective Intelligence XX. Ed. Ngoc Thanh Nguyen, Ryszard Kowalczyk, Béatrice Duval, Jaap van den Herik, Stephane Loiseau, and Joaquim Filipe. Cham: Springer, 2015.Vol. 9420. Lecture Notes in Computer Science. 54-77.

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