Object shape recognition with artificial whiskers using tomographic reconstruction

Cagdas Tuna*, Joseph H. Solomon, Douglas L. Jones, Mitra J Z Hartmann

*Corresponding author for this work

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

7 Scopus citations

Abstract

Existing techniques utilizing bio-inspired robotic whisker sensory systems generally address object feature extraction with artificial whiskers as a mechanical problem. We present an alternative signal-processing approach that formulates the object shape recognition as a 2-D tactile imaging problem. Observing that the whisker position at the very initial contact is similar to a 'ray path' in X-ray computed tomography; the 2-D cross-sectional image of the object can be tomographically reconstructed by measuring only the angle at the whisker base and the whisker-base location at the initial contact for each viewing angle. This approach has the important practical advantage of eliminating the need for the calibration of the force/moment measurements. Experimental results demonstrate the promising potential for bio-inspired systems using arrays of vibrissal sensors for object shape recognition.

Original languageEnglish (US)
Title of host publication2012 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2012 - Proceedings
Pages2537-2540
Number of pages4
DOIs
StatePublished - Oct 23 2012
Event2012 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2012 - Kyoto, Japan
Duration: Mar 25 2012Mar 30 2012

Other

Other2012 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2012
CountryJapan
CityKyoto
Period3/25/123/30/12

Keywords

  • Artificial whiskers
  • bio-inspired signal processing
  • image reconstruction
  • shape recognition
  • tomography

ASJC Scopus subject areas

  • Signal Processing
  • Software
  • Electrical and Electronic Engineering

Fingerprint Dive into the research topics of 'Object shape recognition with artificial whiskers using tomographic reconstruction'. Together they form a unique fingerprint.

  • Cite this

    Tuna, C., Solomon, J. H., Jones, D. L., & Hartmann, M. J. Z. (2012). Object shape recognition with artificial whiskers using tomographic reconstruction. In 2012 IEEE International Conference on Acoustics, Speech, and Signal Processing, ICASSP 2012 - Proceedings (pp. 2537-2540). [6288433] https://doi.org/10.1109/ICASSP.2012.6288433