Haptic object exploration using attention cubes

Authors:
Nicolas Gorges;Peter Fritz;Heinz Wörn
Affiliations:
Institute for Process Control and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany;Institute for Process Control and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany;Institute for Process Control and Robotics, Karlsruhe Institute of Technology, Karlsruhe, Germany
Venue:
KI'10 Proceedings of the 33rd annual German conference on Advances in artificial intelligence
Year:
2010

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Abstract

This paper presents a new approach to generate a strategy for haptic object exploration. Each voxel of the exploration area is assigned to an attention value which depends on the surrounding structure, the distance to the hand, the distance to already visited points and the focus of the exploration. The voxel with the highest attention value is taken as the next point of interest. This exploration loop results in a point cloud which is classified using an Iterative-Closest-Point algorithm. The approach is evaluated in a simulation environment which includes in particular a simulation of tactile sensors.