University of Oulu

K. Tiwari, B. Sakcak, P. Routray, M. Manivannan and S. M. LaValle, "Visibility-Inspired Models of Touch Sensors for Navigation," 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 2022, pp. 13151-13158, doi: 10.1109/IROS47612.2022.9981084

Visibility-inspired models of touch sensors for navigation

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Author: Tiwari, Kshitij1; Sakcak, Basak1; Routray, Prasanna2;
Organizations: 1Center of Ubiquitous Computing, Faculty of Information Technology and Electrical Engineering, University of Oulu, Oulu, Finland
2Touch Lab, Center for Virtual Reality and Haptics, Indian Institute of Technology Madras, Madras, India
Format: article
Version: accepted version
Access: open
Online Access: PDF Full Text (PDF, 0.5 MB)
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Language: English
Published: Institute of Electrical and Electronics Engineers, 2022
Publish Date: 2023-02-23


This paper introduces mathematical models of touch sensors for mobile robots based on visibility. Serving a purpose similar to the pinhole camera model for computer vision, the introduced models are expected to provide a useful, idealized characterization of task-relevant information that can be inferred from their outputs or observations. Possible tasks include navigation, localization and mapping when a mobile robot is deployed in an unknown environment. These models allow direct comparisons to be made between traditional depth sensors, highlighting cases in which touch sensing may be interchangeable with time of flight or vision sensors, and char-acterizing unique advantages provided by touch sensing. The models include contact detection, compression, load bearing, and deflection. The results could serve as a basic building block for innovative touch sensor designs for mobile robot sensor fusion systems.

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Series: Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
ISSN: 2153-0858
ISSN-E: 2153-0866
ISSN-L: 2153-0858
ISBN: 978-1-6654-7927-1
ISBN Print: 978-1-6654-7928-8
Pages: 13151 - 13158
DOI: 10.1109/iros47612.2022.9981084
Host publication: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Conference: IEEE/RSJ International Conference on Intelligent Robots and Systems
Type of Publication: A4 Article in conference proceedings
Field of Science: 213 Electronic, automation and communications engineering, electronics
Funding: This work was supported by a European Research Council Advanced Grant (ERC AdG, ILLUSIVE: Foundations of Perception Engineering,101020977), Academy of Finland (projects PERCEPT 322637, CHiMP 342556), and Business Finland (project HUMOR 3656/31/2019).
EU Grant Number: (101020977) ILLUSIVE - Foundations of Perception Engineering
Academy of Finland Grant Number: 322637
Detailed Information: 322637 (Academy of Finland Funding decision)
342556 (Academy of Finland Funding decision)
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