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publications:cube-search [2015/11/17 11:29]
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publications:cube-search [2015/11/17 12:53] (current)
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-====== Measurement of Shear and Slip with a GelSight Tactile Sensor ====== +====== Cube search, revisited ====== 
-==== W. Yuan, R. Li, M.A. Srinivasan, and E.H. Adelson ====+==== X. Zhang, J. Huang, S. Yigit-Elliott, and R. Rosenholtz ====
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===== Abstract ===== ===== Abstract =====
-Artificial tactile sensing is still underdeveloped, +Observers can quickly search among shaded cubes for one lit from a unique direction. However, replace the cubes with similar 2-D patterns that do not appear to have a 3-D shape, and search difficulty increases. These results have challenged models of visual search and attention. We demonstrate that cube search displays differ from those with “equivalent” 2-D search items in terms of the informativeness of fairly low-level image statistics. This informativeness predicts peripheral discriminability of target-present from target-absent patches, which in turn predicts visual search performance, across a wide range of conditions. Comparing model performance on a number of classic search tasks, cube search does not appear unexpectedly easy. Easy cube search, per se, does not provide evidence for preattentive computation of 3-D scene properties. However, search asymmetries derived from rotating and/or flipping the cube search displays cannot be explained by the information in our current set of image statistics. This may merely suggest a need to modify the model's set of 2-D image statistics. Alternatively, it may be difficult cube search that provides evidence for preattentive computation of 3-D scene properties. By attributing 2-D luminance variations to a shaded 3-D shape, 3-D scene understanding may slow search for 2-D features of the target.
-especially in sensing shear load, incipient slip, and total slip on +
-a contact surface. These are very important for a robot hand to +
-manually explore the environment or perform a manipulation +
-task such as grasping. In this paper, we introduce a new +
-method of detecting the normal, shear and torsional load +
-on the contact surface with a GelSight tactile sensor [1]. In +
-addition, we demonstrate the detection of incipient, partial and +
-total slip. The method consists of inferring the state of the +
-contact interface based on analysis of the sequence of images +
-of GelSights elastomer medium, whose deformation under the +
-external load indicates the conditions of contact. Results with a +
-robot gripper like experimental set up show that the method is +
-effective in detecting interactions with an object during stable +
-grasp as well as at incipient slip. The method is also applicable +
-to other optical based tactile sensors.+
===== Information ===== ===== Information =====
---- dataentry pubitem ---- ---- dataentry pubitem ----
-title      : Measurement of Shear and Slip with a GelSight Tactile Sensor +title      : Cube search, revisited 
-authors    : W. Yuan, R. Li, M.A. Srinivasan, and E.H. Adelson +authors    : X. Zhang, J. Huang, S. Yigit-Elliott, and R. Rosenholtz 
-citation   :  IEEE International Conference on Robotics and Automation (accepted) +citation   :  Journal of Vision 
-shortcite  : ICRA+shortcite  : Journal of Vision
year       : 2015 year       : 2015
-created_dt : 2014-10-29 +created_dt : 2015-11-17 
-summary_page : publications:rui-icra2015 +summary_page : publications:cube-search 
-keyword_tags : rui, wenzhen, adelson +keyword_tags : xuetao, jie, serap, rosenholtz, visstat, search 
-pdf_url    : http://persci.mit.edu/_media/publications/rui-icra2015.pdf+pdf_url    : http://jov.arvojournals.org/article.aspx?articleid=2278664
type       : publication type       : publication
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publications/cube-search.1447777750.txt.gz · Last modified: 2015/11/17 11:29 by shaiyan