论文标题
可见性启发的触摸传感器模型用于导航
Visibility-Inspired Models of Touch Sensors for Navigation
论文作者
论文摘要
本文介绍了基于可见性的移动机器人的\传感器\的数学模型。提供类似于针对计算机视觉的针孔摄像机模型的目的，介绍的模型有望提供有用的，理想化的与任务相关信息的特征，这些信息可以从其输出或观察值中推断出来。当移动机器人部署在未知环境中时，可能的任务包括导航，本地化和映射。这些模型允许在传统的深度传感器之间进行直接比较，并突出显示触摸传感可能与飞行时间或视觉传感器可以互换的案例，并表征触摸传感提供的独特优势。这些模型包括接触检测，压缩，负载轴承和挠度。该结果可以作为移动机器人传感器融合系统创新触摸传感器设计的基本构建块。
This paper introduces mathematical models of \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 characterizing 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.
