{"type":"ScholarlyArticle","title":"Object Recognition Using Vision and Touch","authors":[{"name":"Peter K. Allen","slug":"peter-k-allen","given":"Peter K.","family":"Allen","affiliation":""},{"name":"Ruzena Bajcsy","slug":"ruzena-bajcsy","given":"Ruzena","family":"Bajcsy","affiliation":""}],"abstract":"A system is deacribed that integrates vision and tactile sensing in a robotica environment to perform objcct recognition tub. It uaes multiple sensor aystema (active touch and pusive stereo vision) to compute three dimensional primitives that can be matched against a model data bue of complex curved surtace objccts containing holes and cavitica. The low Ievel sensing elcments provide local surtace and feature matches which an: eonstrained by relational criteria embeddcd in the models. Onee a model has been invoked, a verilication procedure establishes conlidence measures for a correct recognition. The three dimen· sional nature of the sensed data makca the matehing process more robust u does the system'a ability to sense visually occluded areu with touch. The model is hierarchic in nature and allowa matehing at different Ievels to provide support or inhibition for recognition.","doi":null,"url":"https://ijcai.org/proceedings/1985/232","pdf":"https://ijcai.org/proceedings/1985/0232.pdf","markdown":"https://ijcai.org/proceedings/1985/232.md","bibtex":"https://ijcai.org/proceedings/1985/bibtex/232","volume":{"slug":"1985","title":"Proceedings of the Ninth International Joint Conference on Artificial Intelligence","short_title":"IJCAI 1985","url":"https://ijcai.org/proceedings/1985/","year":1985,"location":"Los Angeles, California, USA","dates":"","editors":"Aravind Joshi","isbn":"","publisher":"International Joint Conferences on Artificial Intelligence","doi_prefix":""},"section":"Robotics","track":"Robotics","number":232,"pages":{"first":1131,"last":1136},"keywords":[],"videos":[],"references":[],"license_note":"Copyright International Joint Conferences on Artificial Intelligence."}