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Exploiting Visual-Outer Shape for Tactile-Inner Shape Estimation of Objects Covered with Soft Materials
http://hdl.handle.net/10061/0002000123
http://hdl.handle.net/10061/00020001230c8eb959-a5ef-4858-ab23-a3d5137386fe
| アイテムタイプ | 学術雑誌論文 / Journal Article(1) | |||||||
|---|---|---|---|---|---|---|---|---|
| 公開日 | 2024-02-07 | |||||||
| タイトル | ||||||||
| タイトル | Exploiting Visual-Outer Shape for Tactile-Inner Shape Estimation of Objects Covered with Soft Materials | |||||||
| 言語 | ||||||||
| 言語 | eng | |||||||
| キーワード | ||||||||
| 主題Scheme | Other | |||||||
| 主題 | Motion and path planning | |||||||
| キーワード | ||||||||
| 主題Scheme | Other | |||||||
| 主題 | sensor fusion | |||||||
| キーワード | ||||||||
| 主題Scheme | Other | |||||||
| 主題 | reactive and sensor-based planning | |||||||
| キーワード | ||||||||
| 主題Scheme | Other | |||||||
| 主題 | multi-modal perception | |||||||
| 資源タイプ | ||||||||
| 資源タイプ | journal article | |||||||
| アクセス権 | ||||||||
| アクセス権 | open access | |||||||
| 著者 |
Miyamoto, Tomoya
× Miyamoto, Tomoya
× 佐々木, 光× 松原, 崇充 |
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| 抄録 | ||||||||
| 内容記述タイプ | Abstract | |||||||
| 内容記述 | In this letter, we consider the problem of inner-shape estimation of objects covered with soft materials, e.g., pastries wrapped in paper or vinyl, water bottles covered with shock-absorbing fabrics, or human bodies dressed in clothes. Due to the softness of the covered materials, tactile information obtained through physical touches can be useful to estimate such inner shape; however, using only tactile information is inefficient since it can collect local information at around the touchpoint. Another approach would be taking visual information obtained by cameras into account; however, it is not straightforward since the visual information only captures the outer shape of the covered materials, and it is unknown how much such visual-outer shape is similar/dissimilar to the tactile-inner shape. We propose an active tactile exploration framework that can utilize the visual-outer shape to efficiently estimate the inner shape of objects covered with soft materials. To this end, we propose the Gaussian Process Inner-Outer Implicit Surface model (GPIOIS) that jointly models the implicit surfaces of inner-outer shapes with their similarity by Gaussian processes. Simulation and real-robot experimental results demonstrated the effectiveness of our method. | |||||||
| 書誌情報 |
en : IEEE Robotics and Automation Letters 巻 5, 号 4, p. 6278-6285, 発行日 2020-08-04 |
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| 出版者 | ||||||||
| 出版者 | IEEE | |||||||
| ISSN | ||||||||
| 収録物識別子タイプ | EISSN | |||||||
| 収録物識別子 | 2377-3766 | |||||||
| 出版者版DOI | ||||||||
| 関連タイプ | isReplacedBy | |||||||
| 識別子タイプ | DOI | |||||||
| 関連識別子 | https://doi.org/10.1109/LRA.2020.3013915 | |||||||
| 出版者版URI | ||||||||
| 関連タイプ | isReplacedBy | |||||||
| 識別子タイプ | URI | |||||||
| 関連識別子 | https://ieeexplore.ieee.org/document/9157937 | |||||||
| 権利 | ||||||||
| 権利情報Resource | https://creativecommons.org/licenses/by/4.0/ | |||||||
| 権利情報 | IEEE is not the copyright holder of this material. This work is licensed under a Creative Commons Attribution 4.0 License. For more information, see https://creativecommons.org/licenses/by/4.0/ | |||||||
| 著者版フラグ | ||||||||
| 出版タイプ | NA | |||||||
