Geometric Sensing of Known Planar Shapes

1996 ◽  
Vol 15 (4) ◽  
pp. 365-392 ◽  
Author(s):  
Yan-Bin Jia ◽  
Michael Erdmann
Keyword(s):  
Planar Shapes ◽  
Geometric Sensing

scholarly journals Navigating by touch: haptic Monte Carlo localization via geometric sensing and terrain classification

2021 ◽  
Vol 45 (6) ◽  
pp. 843-857
Author(s):  
Russell Buchanan ◽  
Jakub Bednarek ◽  
Marco Camurri ◽  
Michał R. Nowicki ◽  
Krzysztof Walas ◽  
...  
Keyword(s):  
Monte Carlo ◽  
Estimation Error ◽  
Extreme Environments ◽  
Legged Robot ◽  
Terrain Classification ◽  
Localization Algorithm ◽  
Geometric Information ◽  
Contact Points ◽  
Monte Carlo Localization ◽  
Geometric Sensing

AbstractLegged robot navigation in extreme environments can hinder the use of cameras and lidar due to darkness, air obfuscation or sensor damage, whereas proprioceptive sensing will continue to work reliably. In this paper, we propose a purely proprioceptive localization algorithm which fuses information from both geometry and terrain type to localize a legged robot within a prior map. First, a terrain classifier computes the probability that a foot has stepped on a particular terrain class from sensed foot forces. Then, a Monte Carlo-based estimator fuses this terrain probability with the geometric information of the foot contact points. Results demonstrate this approach operating online and onboard an ANYmal B300 quadruped robot traversing several terrain courses with different geometries and terrain types over more than 1.2 km. The method keeps pose estimation error below 20 cm using a prior map with trained network and using sensing only from the feet, leg joints and IMU.

Similarity-invariant signatures for partially occluded planar shapes

1992 ◽  
Vol 7 (3) ◽  
pp. 271-285 ◽  
Author(s):  
Alfred M. Bruckstein ◽  
Nir Katzir ◽  
Michael Lindenbaum ◽  
Moshe Porat
Keyword(s):  
Invariant Signatures ◽  
Planar Shapes ◽  
Similarity Invariant ◽  
Partially Occluded

scholarly journals Comparing Model-based Versus K-means Clustering for the Planar Shapes

2020 ◽  
Vol 15 (1) ◽  
pp. 99-109
Author(s):  
M. Golalizadeh ◽  
H. Jafari ◽  
◽  
Keyword(s):  
Model Based ◽  
Planar Shapes

MANIPULATING PLANAR SHAPES WITH A LIGHT-SENSITIVE EXCITABLE MEDIUM: COMPUTATIONAL STUDIES OF CLOSED-LOOP SYSTEMS

2006 ◽  
Vol 16 (08) ◽  
pp. 2333-2349 ◽  
Author(s):  
SERGEY SKACHEK ◽  
ANDREW ADAMATZKY ◽  
CHRIS MELHUISH
Keyword(s):  
Closed Loop ◽  
Space Time ◽  
Excitable Medium ◽  
Computational Studies ◽  
Wave Fronts ◽  
Nonlinear Media ◽  
Time Dynamics ◽  
Distributed Manipulation ◽  
Closed Loop Systems ◽  
Planar Shapes

We study how to employ space-time dynamics in nonlinear media to achieve distributed manipulation of objects — positioning, orienting and transporting objects by wave-fronts and patterns in excitable medium. We present the results of computational experiments of a massive parallel actuator controlled by a cellular-automaton model of an excitable medium. The model incorporates closed-loop actuation where sites of the medium can be excited not only by their closest neighbors but also by the edges of the manipulated object. We analyze motion of basic planar shapes (either initially aligned along axes or randomly oriented) induced by an actuator controlled by excitable lattice with various excitation rules. We demonstrate that space-time excitation dynamics in discrete nonlinear media bears a huge potential in terms of sensible nontrivial manipulation of planar shapes.

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