Method of 3D object reconstruction by fusing vision with touch using internal models with global and local deformations

Yasuharu Yamada, Akio Ishiguro, Yoshiki Uchikawa

Research output: Chapter in Book/Report/Conference proceedingConference contribution

8 Citations (Scopus)

Abstract

Recently, the necessity of developing sensor fusion systems has become much higher. In this paper, a method for sensor fusion of vision and touch using an internal model with both global and local deformation is introduced. We utilize superquadrics with local deformations as internal models. Our proposed method consists of two phases. At the first phase, we recover the object shape parametrically by changing the parameters of superquadrics using visual data. The internal model constructed in this phase is, of course, a rough representation of object shape, since visual data are given merely from the visible portion of the object, and parametric models such as superquadrics have inevitable limitation in shape representation. But thanks to this parametric model, we can easily extract regions which are invisible and/or have large errors. Thus, at the second phase, we make the tactile sensor explore to get information of the above-mentioned regions, and deform the internal model locally based on the defined energy functions. The feasibility of the proposed method is confirmed by simulations.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
PublisherPubl by IEEE
Pages782-787
Number of pages6
ISBN (Print)0818634529
Publication statusPublished - 1993 Jan 1
Externally publishedYes
EventProceedings of the IEEE International Conference on Robotics and Automation - Atlanta, GA, USA
Duration: 1993 May 21993 May 6

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
Volume2
ISSN (Print)1050-4729

Other

OtherProceedings of the IEEE International Conference on Robotics and Automation
CityAtlanta, GA, USA
Period93/5/293/5/6

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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  • Cite this

    Yamada, Y., Ishiguro, A., & Uchikawa, Y. (1993). Method of 3D object reconstruction by fusing vision with touch using internal models with global and local deformations. In Proceedings - IEEE International Conference on Robotics and Automation (pp. 782-787). (Proceedings - IEEE International Conference on Robotics and Automation; Vol. 2). Publ by IEEE.