Object location based on sensor fusion of visual and tactual sensing

The paper describes a solution of object orientation findings based upon th e sensor fusion problems between visual sensing and tactual sensing. We foc us on the induction of the tactual images used for identifying the orientat ion of an object in a sensor fusion system made up on the geodesic dome. As an object is set up at the center of the geodesic dome, its image is taken by the camera positioned at the center of the facet on the geodesic dome. Also, robot fingers take tactual images on the finger behavior. If an objec t's image taken by the camera is identified with the image model of the fac et on the geodesic dome, the position and orientation of the camera which l akes its image are determined from the facet on the geodesic dome. As the t actual image corresponds to the image induced from the facet on the geodesi c dome, the orientation of object is confirmed from the tactual image. Comp uter simulations show the effectiveness of the proposed method.