Robot Object Recognition Based On Visuo- Tactile Cues Fusion

Multimodal cues fusion is a developing and practical technology in the field of robot investigation and application. It is a valuable method for information processing and decision-making in many fields, also with huge potential application. By introducing the model of visual attention mechanisms based on visual-tactile cues fusion, the robot perception system can improve the efficiency of information processing to match the need of real-time demand. The main contents of this paper are as forllows:Firstly, the latest research achievements in neurophysiology and psychics in human visuo-tactile fusion is analysed and summarized. The superiority and defects between the single model perception and multimodal perception are compared. The result is that the multimodal object recognition is more superior than single modal object recognition, not only in the efficiency and anti-jamming characteristic.Secondly, this paper is based on the latest research achievements in neurophysiology. The visuo-tactile coordination theoretical model is set up. According to the different salience of objects in visual information and tactile information, the model will choose the object which is more conspicuous to drive visual attention and to make the axis of vidicon and the center of the object to superposition. Consequently, the robot can get some precise visual information in interested region and obtain more detail in object recognition. In the process of information, the relevant parameter is need not to be provided beforehand, the robot can not only ceaseless update those parameters to adapt the change of the environment but also automatically compensate the error which is produced by circumstance and mechanism itself. At the same time, it can rectify some image aberration of CCD camera in learning process.Finally, the paper set up an object recognition theoretical model that is based on human visual attention mechanism. By acquiring the cues of the orientation of the object through tactile perception, the robot can reduce some preparing work of image processing so the speed of image processing is increased, the processing time is decreased greatly . Based on the focus of visual attention the model can improve the efficiency of image processing and get more accurate image information to implement accurate object recognition.