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This paper presents a novel method for robot to reconstruct unknown object models from discrete tactile point clouds. In model recovery process, 6D tactile data which contain point positions and corresponding normal vectors are firstly clustered. Then geometric feature descriptors are used to extract geometric feature vectors from tactile data. The object feature vectors are used in object shape classification...
In this paper a novel approach is proposed for tactile shape recognition, which uses tactile point location and normal information. Superquadric functions are applied to construct several shape primitives and k-means unsupervised clustering method is used to partition the objects as several patches. By extracting geometrical features from each patch and rearranging features, object feature vectors...
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