Localizing the Object Contact through Matching Tactile Features with Visual Map

Understand

This paper presents a novel framework for integration of vision and tactile sensing by localizing tactile readings in a visual object map.

• Intuitively, there are some correspondences, e.g., prominent features, between visual and tactile object identification.
• To apply it in robotics, we propose to localize tactile readings in visual images by sharing same sets of feature descriptors through two sensing modalities.
• It is then treated as a probabilistic estimation problem solved in a framework of recursive Bayesian filtering.