Ergodic Exploration Using Binary Sensing for Nonparametric Shape Estimation.
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ABSTRACT:
SUBMITTER: Abraham I
PROVIDER: S-EPMC6140341 | biostudies-other | 2017 Apr
REPOSITORIES: biostudies-other
Publications
Ergodic Exploration Using Binary Sensing for Nonparametric Shape Estimation.
Abraham Ian I Prabhakar Ahalya A Hartmann Mitra J Z MJZ Murphey Todd D TD
IEEE robotics and automation letters 20170117 2
Current methods to estimate object shape-using either vision or touch-generally depend on high-resolution sensing. Here, we exploit ergodic exploration to demonstrate successful shape estimation when using a low-resolution binary contact sensor. The measurement model is posed as a collision-based tactile measurement, and classification methods are used to discriminate between shape boundary regions in the search space. Posterior likelihood estimates of the measurement model help the system activ ...[more]
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