TY - CHAP
T1 - Tactile features
T2 - Proceedings of the 15th Annual Conference, TAROS, 2014
AU - Corradi, Tadeo
AU - Hall, Peter
AU - Iravani, Pejman
PY - 2014
Y1 - 2014
N2 - A simple and cost effective new tactile sensor is presented, based on a camera capturing images of the shading of a deformable rubber membrane. In Computer Vision, the issue of information encoding and classification is well studied. In this paper we explore different ways of encoding tactile images, including: Hu moments, Zernike Moments, Principal Component Analysis (PCA), Zernike PCA, and vectorized scaling. These encodings are tested by performing tactile shape recognition using a number of supervised approaches (Nearest Neighbor, Artificial Neural Networks, Support Vector Machines, Naive Bayes). In conclusion: the most effective way of representing tactile information is achieved by combining Zernike Moments and PCA, and the most accurate classifier is Nearest Neighbor, with which the system achieves a high degree (96.4%) of accuracy at recognising seven basic shapes.
AB - A simple and cost effective new tactile sensor is presented, based on a camera capturing images of the shading of a deformable rubber membrane. In Computer Vision, the issue of information encoding and classification is well studied. In this paper we explore different ways of encoding tactile images, including: Hu moments, Zernike Moments, Principal Component Analysis (PCA), Zernike PCA, and vectorized scaling. These encodings are tested by performing tactile shape recognition using a number of supervised approaches (Nearest Neighbor, Artificial Neural Networks, Support Vector Machines, Naive Bayes). In conclusion: the most effective way of representing tactile information is achieved by combining Zernike Moments and PCA, and the most accurate classifier is Nearest Neighbor, with which the system achieves a high degree (96.4%) of accuracy at recognising seven basic shapes.
UR - http://www.scopus.com/inward/record.url?scp=84906737738&partnerID=8YFLogxK
UR - http://dx.doi.org/10.1007/978-3-319-10401-0_15
U2 - 10.1007/978-3-319-10401-0_15
DO - 10.1007/978-3-319-10401-0_15
M3 - Chapter or section
AN - SCOPUS:84906737738
SN - 9783319104003
T3 - Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics
SP - 163
EP - 172
BT - Advances in Autonomous Robotics Systems
A2 - Mistry, M.
A2 - Leonardis, A.
A2 - Witkowski, M.
A2 - Melhuish, C.
PB - Springer
Y2 - 1 September 2014 through 3 September 2014
ER -