Tactile object recognition and localization using spatially-varying appearance

Zachary Pezzementi, Gregory D. Hager

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Scopus citations


In this work, we present a new method for doing object recognition using tactile force sensors that makes use of recent work on “tactile appearance” to describe objects by the spatially-varying appearance characteristics of their surface texture. The method poses recognition as a localization problem with a discrete component of the state representing object identity, allowing the application of sequential state estimation techniques from the mobile robotics literature. Ideas from geometric hashing approaches are incorporated to enable efficient updating of probabilities over object identity and pose. The method’s strong performance is demonstrated experimentally both in simulation and using physical sensors.

Original languageEnglish (US)
Title of host publicationRobotics Research - The 15th International Symposium ISRR
EditorsHenrik I. Christensen, Oussama Khatib
PublisherSpringer Verlag
Number of pages17
ISBN (Print)9783319293622
StatePublished - 2017
Event15th International Symposium of Robotics Research, 2011 - Flagstaff, United States
Duration: Dec 9 2011Dec 12 2011

Publication series

NameSpringer Tracts in Advanced Robotics
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X


Other15th International Symposium of Robotics Research, 2011
Country/TerritoryUnited States

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence


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