A Pretouch Perception Algorithm for Object Material and Structure Mapping to Assist Grasp and Manipulation Using a DMDSM Sensor
Fengzhi Guo,Shuangyu Xie,Di Wang,Cheng Fang,Jun Zou,Dezhen Song,Fengzhi Guo,Shuangyu Xie,Di Wang,Cheng Fang,Jun Zou,Dezhen Song
We report a new material and structure mapping (MSM) algorithm to assist robotic grasping and manipulation. Building on our new sensor development, the algorithm has four main components: 1) detection of time-of-flight (ToF) durations for the dual modalities of optoacoustic (OA) and pulse-echo ultrasound (US), 2) contour reconstruction by fusing OA and US signals, 3) local noise filtering by check...
