Combining Visual and Tactile Perception for Robotics

J.C. Rodger and R.A. Browse

Abstract

This paper describes a system which integrates visual and tactile information for robotic perception. Objects selected from a predefined set are recognized and located by using knowledge of visual and tactile imaging conditions along with detailed object models. In each of the perceptual modalities, simple image features are extracted and used to invoke object possibilities. In a combined interpretation process, consistency is enforced among possibilities. The complementary nature of visual and tactile constraints results in determination of object identity and location in situations for which very few features are extracted.