Active Shape Completion Using Tactile Glances

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Journal Title
Journal ISSN
Volume Title
Sähkötekniikan korkeakoulu | Master's thesis
Date
2019-12-16
Department
Major/Subject
Space Robotics and Automation
Mcode
ELEC3047
Degree programme
Erasmus Mundus Space Master
Language
en
Pages
46+16
Series
Abstract
One longstanding challenge in the field of robotics has been the robust and reliable grasping of objects of unknown shape. Part of that challenge lies in reconstructing the object's shape using only limited observations. Most approaches use either visual or tactile information to reconstruct the shape, having to face issues resulting from the limitations of the chosen modality. This thesis tries to combine the strengths of visual and tactile observations by taking the result from an existing visual approach and refining that result through sparse tactile glances. The existing approach produces potential shape hypotheses in voxel space which get combined into one final shape. This thesis takes that final shape and determines voxels of interest using either entropy or variance. These voxels will be targeted by the exploration, providing information about these voxels. This information will be used to assign weights to the original hypotheses in order for the combined shape to better fit the observations. All explorations are simulated and evaluated in MATLAB. The resulting shapes are evaluated based on their Jaccard Index with the ground truth model. The algorithm leads to improvements in the Jaccard Index, but not to drastically different looking shapes.
Description
Supervisor
Kyrki, Ville
Thesis advisor
Verdoja, Francesco
Lundell, Jens
Keywords
shape completion, haptic exploration, tactile glances, robotics
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