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An Enhanced Edge Tracking Method Using a Low Resolution Tactile Sensor

Edge detection plays an important role in object recognition and exploration. In this paper, we propose an efficient tracking algorithm, which uses a coarse resolution tactile sensor set, for edge detection of a 2D shape object. Although many researchers have often used a tactile sensor with high re...

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Bibliographic Details
Published in:International journal of control, automation, and systems automation, and systems, 2010, Vol.8 (2), p.462-467
Main Authors: Phung, Tri Cong, Ihn, Yong-Seok, Koo, Ja-Choon, Choi, Hyouk-Ryeol
Format: Article
Language:Korean
Online Access:Get full text
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Summary:Edge detection plays an important role in object recognition and exploration. In this paper, we propose an efficient tracking algorithm, which uses a coarse resolution tactile sensor set, for edge detection of a 2D shape object. Although many researchers have often used a tactile sensor with high resolution such as a $10{\times}10$ or higher for edge detection, in this research, we use a $2{\times}2$ tactile sensor to track the edges of an object. Using this type of low resolution sensor, we can reduce the manufacturing cost of the sensor and simplify the calculation and control process. In our algorithm, we only need to control the sensor to make it move along the vertical axis, Oy, or the horizontal axis, Ox. The sensor is moved along a suitable direction according to the sensing signals receiving from it. A set of simulations for both convex and concave shapes has been done to verify the algorithm. In addition, methods to increase the accuracy of the algorithm are also discussed.
ISSN:1598-6446
2005-4092